diff --git a/.gitattributes b/.gitattributes
index 73305a56bfde3e18460c16c01f478b2ca0cb5383..345eba951264a44a5b4861c739241c105c989a62 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2511,3 +2511,5 @@ dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/na
 dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mouthwash_cup_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/toothpaste_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f361169d13039723eca8b2e45dbd26b43457d161
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e34037b710db848e40569bb2f344679478fbb60
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91a16f1cf15e0b13f64e09f88584662a44fb450991c99e604e9d2744d918c0a7
+size 8222487
diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010.glb b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e3fb13b0be220a776d198b2755634d26fc8bf5b3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a927b8d9839d46ba42c3576bb8cb45155620662baed0af4766258342f361c09
+size 10768536
diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010.mtl b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..938ef2595d3fc42fef5112f13f26a57cad4e6bf1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_010_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/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010.obj b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ea838c0936cd3745a6103f30b2b84d2b3c2b31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010.obj
@@ -0,0 +1,112826 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010_collision.obj b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b00c87bafbfe8aef460288e605fc7768a06cebaa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mesh/toothpaste_010_collision.obj
@@ -0,0 +1,1443 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/mesh/toothpaste_010_collision.obj b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/mesh/toothpaste_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a76973d963f61b15df9b72396f2b307461b44046
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/mesh/toothpaste_010_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/mesh/toothpaste_010_collision_0.obj b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/mesh/toothpaste_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a76973d963f61b15df9b72396f2b307461b44046
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/mesh/toothpaste_010_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/toothpaste_010.xml b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/toothpaste_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..332de5645ac023fca16bbfcbb947162d592f334b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/mjcf/toothpaste_010.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/textures/material_0.png b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e34037b710db848e40569bb2f344679478fbb60
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+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:91a16f1cf15e0b13f64e09f88584662a44fb450991c99e604e9d2744d918c0a7
+size 8222487
diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/toothpaste_010.urdf b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/toothpaste_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0bc1435c4d31e67c9d013ac346980fb0ff6685f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/toothpaste_010.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_010">
+   <link name="toothpaste_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <origin xyz="0 0 0" />
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+      </inertial>
+      <extra_info>
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+         <uuid>5c1a6b57e4685acb9699191409c90744</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>oral-b toothpaste</name>
+         <color>blue and gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>squeezable tube with blue cap and printed branding</description>
+         <min_height>0.1630</min_height>
+         <max_height>0.1630</max_height>
+         <real_height>0.1630</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414145422</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/5c1a6b57e4685acb9699191409c90744/toothpaste_010.usd b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/toothpaste_010.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/toothpaste_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc455f388599f55b4b0a189cbd99edd3a2211ed9bb53dec3a4b7faf54e8b390
+size 4434007
diff --git a/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/video.mp4 b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fafacb96221491a1e7e41a26e2e1f74fb4e58f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6039473c48ba5d379906d4d12e561b4d465ca6d4c27ed514956f91adeef398ad
+size 128493