diff --git a/.gitattributes b/.gitattributes
index 6445067b7fa62f455c06585e3feccee677063dc0..11e13efe531bdd5f42bf14982891eb184f702836 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2551,3 +2551,5 @@ dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/to
 dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/toothpaste_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/dental_floss_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/mesh/dental_floss_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/toothpaste_007.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2e6053b2c6f1ac4d4e7e9d6fabf686d5624f2d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_007_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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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/884311bc5b075d6ba7cae7fd6b988064/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/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/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.glb b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.mtl b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5ddf9193e3912937cb99c4fd8a798df1e9d7cac8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.mtl
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+newmtl toothpaste_007_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/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.obj b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a419c7252a6736342ff0852e4644e8091518dc71
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.obj
@@ -0,0 +1,114126 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_007_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007_collision.obj b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6ea7b319a3307fe6218cb23053dfce348d6f6a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision.obj b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0e18a3c4f8677263f597501097f591123192d5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision.obj
@@ -0,0 +1,3168 @@
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diff --git a/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_0.obj b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f99f529684f6fc6d84b9fbb3dbd66ebf40e3088c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_1.obj b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90beb67346328dd011f330f687b1312a1a447c8a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_1.obj
@@ -0,0 +1,1261 @@
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diff --git a/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_2.obj b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce4e2e4abd045dd398bad4505a2482f692cf0ce5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_3.obj b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23e5cf415db97f011c92ad0efe2c058ff5de31ab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/mesh/toothpaste_007_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/toothpaste_007.xml b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/toothpaste_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..97aec5cc18afc8cbeb927969bf2f47ae5dc0b2e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mjcf/toothpaste_007.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_007">
+  <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_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothpaste_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_007">
+      <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" />
+      <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/884311bc5b075d6ba7cae7fd6b988064/textures/material_0.png b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/toothpaste_007.urdf b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/toothpaste_007.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/toothpaste_007.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_007">
+   <link name="toothpaste_007">
+      <visual>
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+         <geometry>
+            <mesh filename="mesh/toothpaste_007.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
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+      <inertial>
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+      <extra_info>
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+         <uuid>884311bc5b075d6ba7cae7fd6b988064</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>papaya toothpaste</name>
+         <color>green and white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>green and white toothpaste tube with papaya design</description>
+         <min_height>0.1500</min_height>
+         <max_height>0.1500</max_height>
+         <real_height>0.1500</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414145252</generate_time>
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+   </link>
+   <custom_data>
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+      </affordance>
+      <quality>
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+      </quality>
+   </custom_data>
+</robot>
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