diff --git a/.gitattributes b/.gitattributes
index eeaaf19189923f1c7b6992b9af47e4e61cb9601f..1cca67720cb45f34c9cf7d04ab6ca8b598264187 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2459,3 +2459,5 @@ dataset/bathroom_supplies/personal_care/047e49a463e35751bee8e3abb584f882/dental_
 dataset/bathroom_supplies/personal_care/047e49a463e35751bee8e3abb584f882/mesh/dental_floss_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/comb_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/mesh/comb_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/toothpaste_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d89bc2d90f461d7982d5211263275ad46446bceb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd toothpaste_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5bb3eb3bde0827c4939a67e237b3dcc33e85a3a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54dc4ebe616b4a5e3e507afa7f52f94a62c721ab1ee52e206c70ce77d893677a
+size 9672607
diff --git a/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.glb b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2d2cc6e4175d62f0eac3b7d3884c58ed8fee69f7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e12fe9627d383a86ca55e479ef56f2b2e011036441e19621c515a39ee3fa661
+size 12824364
diff --git a/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.mtl b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c6e763c3b2a8236f70e37d848f6a8c1e25a2aecf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_009_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/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.obj b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91234ad99f202645bb1327bcb6b39706f61cabc9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.obj
@@ -0,0 +1,106804 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009_collision.obj b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2fa30303cb4174f945300130e14a700117450d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision.obj b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15945d0d01aa9bee927a0f6ca3c23813a16a5805
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision.obj
@@ -0,0 +1,5603 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision_0.obj b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b00521fe7c31bb9d3095057d9ae12b491af31df
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision_1.obj b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1aaac3593bb42e1e9d49b3366d031a3bfcff03
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision_2.obj b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d607ddc6f0650d2d98f7aa8531a1f8bc9f0f082
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/mesh/toothpaste_009_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/toothpaste_009.xml b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/toothpaste_009.xml
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mjcf/toothpaste_009.xml
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+<mujoco model="toothpaste_009">
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/toothpaste_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
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+      <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/0914eb10d20d527d8f9e5b771e36f28f/toothpaste_009.urdf b/dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/toothpaste_009.urdf
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+         <geometry>
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+         <geometry>
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+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>toothpaste tube</name>
+         <color>white-green</color>
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+         <material>plastic</material>
+         <description>squeezable tube with green cap and printed label</description>
+         <min_height>0.0422</min_height>
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+         <min_mass>0.05</min_mass>
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+         <version>v0.1.0</version>
+         <generate_time>20260414145352</generate_time>
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+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
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+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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