diff --git a/.gitattributes b/.gitattributes
index cd84837bf694a9cb35fdadb5a1a55894e31a2ad6..446a27b07f2b589a517286266534fafdde185954 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2511,5 +2511,5 @@ dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/mesh/ra
 dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/razor_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/hair_clip_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/mesh/hair_clip_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45/mesh/toothpaste_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45/toothpaste_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5ecfc2d7e38761ef0bd5227b6d657c4b58a1c82a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea1adbbaa11271d16b59f0485f792e8fe8652d46
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:477e6e13db4d239c97c2e9e5215643c8c22516b3b1a6b3d061cb020a01a9366a
+size 10715477
diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.glb b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0fcdb85f578877bc6a69c117ca06bb725ca55acd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c92256d73dcf4e4fbde594f7313367b57905189c902200c8887820c5662c7e5f
+size 14191156
diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.mtl b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..10c8a19a306319e23a1eef8c601f7063071bd600
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_020_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/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d713b71065efd1a46bb515283978429b5b352e0e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.obj
@@ -0,0 +1,114742 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_020_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020_collision.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac03777fdcf71341a147dc587dd5ec219b6ef8f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..595fec90aae41d6565f4e814b086ebf7f8c0369f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision.obj
@@ -0,0 +1,16821 @@
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_0.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa70353adb28234c0457a97bbaf11e77d0a54e2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_1.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72728688a64551d1c7b5ae6efdb920893434761b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_10.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a9103c5a176d30c406b014fd433b29ac2d6b7e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_11.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..036c38e5663f7f2d6dd9143b055cf078cff0ed64
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_11.obj
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_12.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05f15e924b5c864ad896616fe046c1d09aec3770
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_12.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_13.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cc1ebc5ef7f2ef78ebfcff37c1e0f73d28143ad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_13.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_14.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1838da5c2c53489bf554867c301f8874a56eb2d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_14.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_15.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac5afb73be79f2453ba60398c33b09471756a76f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_15.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_16.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42419c87aa266e575701ecc761d266327bc986e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_16.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_17.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e730168bc052bc37f4ab897793b00bc55e187e4e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_17.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_18.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4063b2667ae55014e72c3ffa1d8310c8e2a1e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_18.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_2.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace5c98c09f37635f2e89a9054c0fd07acfe1b98
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_2.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_3.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf218381cf6a7137856e32472115df5cf8e8e5de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_4.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6d0bb12f71e3dc1952840486dd41530c31320b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_5.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5ee034a16f86e977c36982b7bb580bb820f8be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_6.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb94f58431256c5070be7f166563442f1d7d8896
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_7.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5cc1d4891a260da0819c6a8991e69147a36a6dd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_7.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_8.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65eb0bd590ef131851c8cea0f67ea799b990f319
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_8.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_9.obj b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534c263b514d676c5608c5c7096e9b5d30072720
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_9.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/toothpaste_020.xml b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/toothpaste_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4faaa9ef47a0561edf4dd51cd1fc7ed500ec78d8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/toothpaste_020.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothpaste_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/toothpaste_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/toothpaste_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/toothpaste_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/toothpaste_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/toothpaste_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/toothpaste_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/toothpaste_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/toothpaste_020_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/toothpaste_020_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_020">
+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/textures/material_0.png b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.urdf b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59e531a5e8d745838bcd6fc02ca51dd0bc399e5f
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+++ b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_020">
+   <link name="toothpaste_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>54b0429c2d33547e9f8e90ace69bb99d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>pink toothpaste bottle</name>
+         <color>pink,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>pink pump-top toothpaste container with rounded body and white base</description>
+         <min_height>0.1817</min_height>
+         <max_height>0.1817</max_height>
+         <real_height>0.1817</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518164301</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040030 -0.039986 -0.078271</min>
+            <max>0.041222 0.040014 0.103398</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.usd b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.usd
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diff --git a/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/video.mp4 b/dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/video.mp4
new file mode 100644
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