diff --git a/.gitattributes b/.gitattributes
index e4b648bb46ac206b806143d4dcb05fff1f5c1a45..bb035c1170436bbd5e96a43ae24bf38aa93380ab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2559,3 +2559,5 @@ dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/to
 dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/toothbrush_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mouthwash_cup_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/toothpaste_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8baf5047f6beb59dc0d9631da87fb4fa6212723
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c85d9f6985c6c140a7a57b108b4b7c158a7c85c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36edd967c28a580c542b72a5c6546cb81973f40855d4d33181f67d310e6c53cb
+size 7051437
diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.glb b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9913d9e8589a4fa3b333152049192f251d9a27cd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77f5b059f2df4fc0a3179f60302e4537324d27cafc74b8b2078f49e085fc09a1
+size 10131412
diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.mtl b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..45747e3b7fec7ff04a94330f364e5e2245814e63
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_003_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/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.obj b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d66a3beac65fb0ec9d9671f1430d7b82b8a567
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.obj
@@ -0,0 +1,104372 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_003_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003_collision.obj b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc50a75b7e1d61af5a3a8b7f15d2eb2045364787
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003_collision.obj
@@ -0,0 +1,5241 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c85d9f6985c6c140a7a57b108b4b7c158a7c85c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c85d9f6985c6c140a7a57b108b4b7c158a7c85c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003.obj b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003.obj
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index 0000000000000000000000000000000000000000..86c335c89fc3c8bdedc7088be21c5e248d9639b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision.obj b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4253014258f74eb947cdba2f2ca4f4f4213227ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision.obj
@@ -0,0 +1,5241 @@
+# https://github.com/mikedh/trimesh
+
+o toothpaste_003_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_0.obj b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df1ee98c8d905ba623b6f9c45d93ac045030d23
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_1.obj b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e385b61f9a9f1395686929cbcdae2357cd59574
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_2.obj b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798f39f098a7dfd899abc2401e6144edf2ba5194
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_2.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_3.obj b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f430221505c77855a19d1cce85e9424d965fc7e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/mesh/toothpaste_003_collision_3.obj
@@ -0,0 +1,3574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/toothpaste_003.xml b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mjcf/toothpaste_003.xml
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+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/textures/material_0.png b/dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/textures/material_0.png
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+         <geometry>
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+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>toothpaste</name>
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+         <shape>unknown</shape>
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+         <description>toothpaste</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
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+         <min_mass>1</min_mass>
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+         <version>v0.1.0</version>
+         <generate_time>20260414145059</generate_time>
+         <gs_model>""</gs_model>
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+            <geometry>
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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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