diff --git a/.gitattributes b/.gitattributes
index ebae9ae764ab0d984f4728f6ed2363e10ebd0d6a..2b75257f30fb521c6aae026c8091ba938b0db4e1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2593,3 +2593,5 @@ dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/to
 dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/toothpaste_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/toothbrush_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/toothpaste_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7725c1dccd5e252c6e9e70b5b9d68d9e739f2718
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_006_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8e2b76d1f266e6b126d8e43ad210fd69ab67eed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/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/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.glb b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3d4ad37fc4c0d3988954fe05c74fb569d959cab1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.glb
@@ -0,0 +1,3 @@
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+size 11489848
diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.mtl b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ed80a832c61c2ad1b288cf34723fe4ce2d791746
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.mtl
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+newmtl toothpaste_006_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/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.obj b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0d68a5a8f8b2380960b130f34aea3c6354af20c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.obj
@@ -0,0 +1,105034 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006_collision.obj b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9317c5add1d9d78437e2d1eb0f9d0bd2002657d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006_collision.obj
@@ -0,0 +1,4802 @@
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diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006.obj b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision.obj b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5dc04f297f00edc697cd6beb7734e771acbcb69
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision.obj
@@ -0,0 +1,4802 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision_0.obj b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a82745deda82e44718acf091b070609968a21f17
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision_1.obj b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9abc3a13bb6e73b7c06eeaf8e08b09ffabf944fe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision_2.obj b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce9aa93c4a3a87e05a1edf6b0c291935a1a6055
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/mesh/toothpaste_006_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/toothpaste_006.xml b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/toothpaste_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..11cbeb26cd88634957d985225cab52a49e568649
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mjcf/toothpaste_006.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_006">
+  <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_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_006">
+      <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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/textures/material_0.png b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8e2b76d1f266e6b126d8e43ad210fd69ab67eed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:589e4b73b65a13bc34d6f5e077cea403ac35c3a24dcd31ae4fa892c7f4a22801
+size 8421275
diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/toothpaste_006.urdf b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/toothpaste_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..401e570d1ebf5e533a3cfcec6e6acfc7eecc364a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/toothpaste_006.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_006">
+   <link name="toothpaste_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>aeb5ee4bf1125857be0ea8791788d63d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>green toothpaste</name>
+         <color>green-white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>green toothpaste tube with white cap and printed branding</description>
+         <min_height>0.1800</min_height>
+         <max_height>0.1800</max_height>
+         <real_height>0.1800</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414145224</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/toothpaste_006.usd b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/toothpaste_006.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/toothpaste_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4740835
diff --git a/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/video.mp4 b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 174173