diff --git a/.gitattributes b/.gitattributes
index a94388bb224473e458b11aaa37e9f95801e83532..b3d6322c5753b644061b85476effbe929668dc82 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2539,9 +2539,5 @@ dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/na
 dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/nail_clipper_022.usd filter=lfs diff=lfs merge=lfs -text
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 dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mouthwash_cup_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/815906c6d07159d1b94ddcd5efe09f00/mesh/toothpaste_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/815906c6d07159d1b94ddcd5efe09f00/toothpaste_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/7ce551f19d0f59aea65cbc49d7f7f4bc/comb_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/7ce551f19d0f59aea65cbc49d7f7f4bc/mesh/comb_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ca3c89bae5d9fdbf9625cc30fff9c7d2b6a2442
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_027_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027.glb b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cfd7091920f34ba7de76d0e9e93849c045060023
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027.mtl b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a8b1a663a95f5d563038d4529267ee3087332ed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027.mtl
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+newmtl toothpaste_027_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a48f28525670e03ef3337ce06dade27a57ad84e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027.obj
@@ -0,0 +1,111004 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027_collision.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baa098be4e2047f7eefb5b639d74f975cd7cf4dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027_collision.obj
@@ -0,0 +1,4412 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mesh/toothpaste_027_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8021e0111d55440e9fe9251195e6abf98777c622
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_0.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99136ab3f9123bf982d2e8e4926886e9f72b6401
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_1.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f67cff0c0394b945b12be67764b514e4f81a5f26
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_2.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6eebfe004834c25c54c8ed96deff9142bc28e50
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_3.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae1561bdfb25f48bc34eef2bd9c1d07dd53e9e31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_3.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_4.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a7d38086425b2f91d9a98ac66616ad01185fd0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_4.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_5.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfcd6de0ae6f2bde67e457c619530106fc31a9ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_5.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v 0.00396373 0.01039866 -0.09151970
+v -0.00539626 0.00391424 -0.09237933
+v -0.01334942 0.00391420 -0.08256885
+v -0.01357445 0.00391425 -0.09408730
+v -0.01350402 0.00459762 -0.09400483
+v -0.01188075 0.00592278 -0.09461080
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+v -0.01084323 0.00936178 -0.08256883
+v -0.00990706 0.01073962 -0.08256882
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+v -0.00798319 0.01272181 -0.08256881
+v -0.01334771 0.00392251 -0.08256885
+v -0.01350402 0.00459762 -0.09398984
+v -0.01358475 0.00391424 -0.09344884
+v -0.01103390 0.00908039 -0.08256883
+v -0.01249055 0.00625125 -0.08256884
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+f 1 9 3
+f 1 3 4
+f 1 4 15
+f 1 15 26
+f 1 26 39
+f 1 39 29
+f 1 29 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
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+f 24 38 25
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+
diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_6.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb2cd8bcb633d8229034aa7cc8b23274d8e2229
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_6.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00421164 0.01741896 -0.08102870
+v 0.00396373 0.01740638 -0.08102870
+v 0.00653427 0.01709067 -0.08102870
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+v 0.00421164 0.01808059 -0.08958060
+v 0.00396373 0.01807430 -0.08960744
+v 0.00396373 0.00629121 -0.08102874
+v 0.00743283 0.01695986 -0.08102870
+v 0.00640350 0.01799003 -0.09078130
+v 0.00975466 0.01615487 -0.08102870
+v 0.01065242 0.01640772 -0.08885249
+v 0.00421164 0.01808059 -0.09096917
+v 0.00396373 0.01807430 -0.09096099
+v 0.00396373 0.01039796 -0.09151995
+v 0.01215992 0.00655915 -0.08895872
+v 0.01215992 0.00581956 -0.08673702
+v 0.01215992 0.00546736 -0.08542080
+v 0.01215992 0.00523089 -0.08102874
+v 0.01215992 0.01533230 -0.09027956
+v 0.01215992 0.01507194 -0.09097034
+v 0.01065242 0.01550463 -0.09124805
+v 0.00745931 0.01642660 -0.09156777
+v 0.00421164 0.01620019 -0.09237524
+v 0.01065242 0.01582910 -0.08102870
+v 0.01215992 0.01545051 -0.08542076
+v 0.01215992 0.01565052 -0.08885249
+v 0.00396373 0.01620522 -0.09237641
+v 0.00396373 0.01059041 -0.09164831
+v 0.01215992 0.00781695 -0.09061448
+v 0.01215992 0.00778173 -0.09058414
+v 0.01215992 0.01508323 -0.08102870
+v 0.01215992 0.01425312 -0.09120256
+v 0.01215992 0.01286451 -0.09155378
+v 0.01065242 0.01288338 -0.09191084
+v 0.00396373 0.01286451 -0.09294934
+v 0.01214307 0.01509203 -0.08102870
+v 0.01215992 0.01534863 -0.08411271
+v 0.01215992 0.00846346 -0.09099371
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+f 24 37 25
+f 28 38 29
+f 28 35 38
+f 31 37 36
+f 33 39 34
+f 34 39 35
+f 35 39 38
+
diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_7.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3510a6e5fd4f0f5ea4533a76847a9a67b30669db
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_7.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00867097 -0.00781557 -0.09507154
+v -0.01189222 -0.00369819 -0.09526731
+v -0.01189222 -0.00038340 -0.09539029
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+v -0.01388036 -0.00038340 -0.09447538
+v -0.01189222 0.00293370 -0.09512673
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+v -0.01335033 0.00391420 -0.08256885
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+v -0.00308408 0.00391420 -0.08256885
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+f 19 33 28
+f 19 28 27
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+f 19 21 20
+f 22 30 31
+f 22 31 32
+f 22 32 25
+f 22 28 33
+f 22 33 34
+f 22 34 30
+f 23 25 35
+f 24 36 37
+f 24 37 26
+f 25 32 35
+f 30 34 31
+f 31 34 39
+f 36 40 37
+f 36 41 40
+f 38 40 41
+
diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_8.obj b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a5383008fc80df383d33ab342ba738ef73068a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/mesh/toothpaste_027_collision_8.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01215992 0.00522967 -0.08102875
+v 0.01215992 0.01508221 -0.08102871
+v 0.01215992 0.00546517 -0.08542012
+v 0.01307504 -0.00602311 -0.08102879
+v 0.01268213 0.01481914 -0.08102872
+v 0.01308807 0.01502918 -0.08542008
+v 0.01215992 0.01534742 -0.08411243
+v 0.01215992 0.00581736 -0.08673608
+v 0.01349200 -0.00602310 -0.08550325
+v 0.02120284 -0.00602311 -0.08102879
+v 0.01215992 0.00655780 -0.08895877
+v 0.01469779 0.01395779 -0.08542009
+v 0.01429185 0.01360348 -0.08102872
+v 0.01320634 0.01512467 -0.08885279
+v 0.01215992 0.01565082 -0.08885279
+v 0.01215992 0.01545137 -0.08542008
+v 0.01431090 -0.00602308 -0.08857555
+v 0.01215992 0.00777982 -0.09058423
+v 0.01215992 0.00781588 -0.09061435
+v 0.02219814 -0.00602309 -0.08613994
+v 0.02163684 -0.00356209 -0.08102878
+v 0.01481707 0.01391114 -0.08885280
+v 0.01565400 0.01240904 -0.08102872
+v 0.01658616 0.01230085 -0.08542009
+v 0.01277133 0.01489554 -0.09085841
+v 0.01215992 0.01533258 -0.09027884
+v 0.01624337 -0.00602308 -0.09022180
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+v 0.02230740 -0.00349844 -0.08524047
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+v 0.01819488 0.01055905 -0.08542010
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+v 0.01754638 -0.00602308 -0.09073177
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+v 0.02221017 -0.00602309 -0.08782773
+v 0.02238758 -0.00369785 -0.08821201
+v 0.02239961 -0.00038185 -0.08823797
+v 0.02231642 -0.00057068 -0.08522279
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+v 0.01934153 0.00889998 -0.08542011
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+v 0.01916613 -0.00602308 -0.09072138
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+v 0.01933452 -0.00038184 -0.09074733
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+v 0.02201672 -0.00602309 -0.08805519
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+v 0.02094524 -0.00038184 -0.08995484
+v 0.02213800 0.00293628 -0.08766048
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+v 0.02193553 0.00462080 -0.08716711
+v 0.01891655 0.00625017 -0.09067460
+v 0.02093422 -0.00602308 -0.08925690
+v 0.02028772 0.00532514 -0.08102875
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+f 56 61 57
+f 56 68 61
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+f 58 61 60
+f 59 69 60
+f 63 64 70
+f 64 66 70
+
diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/toothpaste_027.xml b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/toothpaste_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0de4a3834add9ef7eae64a95634c70bb94dc6d6b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/mjcf/toothpaste_027.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_027">
+  <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_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothpaste_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/toothpaste_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/toothpaste_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/toothpaste_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/toothpaste_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/toothpaste_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_027">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" 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/7fd6037f94005ad9a792ebbca1480708/textures/material_0.png b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/textures/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad93f6fe5ef5c63aeccebb470886ee862d1b3e2c12130ca95209f2a5106cb2e9
+size 9722815
diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/toothpaste_027.urdf b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/toothpaste_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..71308b78b616a6d7032336f7ab2f0766715721fd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/toothpaste_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_027">
+   <link name="toothpaste_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>7fd6037f94005ad9a792ebbca1480708</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 and white toothpaste tube with cap and printed text</description>
+         <min_height>0.2074</min_height>
+         <max_height>0.2074</max_height>
+         <real_height>0.2074</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125041</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.018634 -0.028670 -0.094654</min>
+            <max>0.024218 0.031330 0.112768</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/7fd6037f94005ad9a792ebbca1480708/toothpaste_027.usd b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/toothpaste_027.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4905086
diff --git a/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/video.mp4 b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/video.mp4
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3957fab3f16a3e3240ad915e3afc0f24b6025523e7378726a3316a5be3dc5e81
+size 154398