diff --git a/.gitattributes b/.gitattributes
index 6867963af5b3d0eb86b417d12dfaa4c3bb401b33..264ea57e1bddbf09e61b95b875bf4522b68d31c4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2483,3 +2483,5 @@ dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/mjcf/me
 dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/toothbrush_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2b4d729feb3d5270ba71eb046a27772a/hair_clip_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2b4d729feb3d5270ba71eb046a27772a/mesh/hair_clip_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/comb_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/comb_015.urdf b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/comb_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..773addd9e12c86e72ef46b8477b11a3e2f23349c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/comb_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="comb_015">
+   <link name="comb_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/comb_015.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/comb_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>2c531de21c8056a7b98bc1b8f11643ed</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>comb</category>
+         <name>blue comb</name>
+         <color>blue</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>small blue handled comb with rounded head and short thick teeth</description>
+         <min_height>0.0462</min_height>
+         <max_height>0.0462</max_height>
+         <real_height>0.0462</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518152750</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.056105 -0.039993 -0.017585</min>
+            <max>0.097276 0.040007 0.028622</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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/2c531de21c8056a7b98bc1b8f11643ed/comb_015.usd b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/comb_015.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0a1168ba8bf51b060013b39f4d5ddaac302355fb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/comb_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:348ca4ab6774c6a300702d3324c939289bda5104d141583e713ae67f0fca8bf5
+size 5051452
diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.glb b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9a4349a5fab416de98bd89dc693c3251e8d29f30
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efdd799e7c919b362c4bd58de884f3a2b3087b07e48ee8ab238b63151207db57
+size 13470260
diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.mtl b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..616254ea0fddf3ebbf424f04b401223e090e34b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.mtl
@@ -0,0 +1,6 @@
+newmtl comb_015_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/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca829835661a5d237e645b00197d62f5be88d043
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.obj
@@ -0,0 +1,126412 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_015_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015_collision.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a169557e199d02c61fcf22c2817eb482e8bd8801
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015_collision.obj
@@ -0,0 +1,10930 @@
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..70e3ad25b308e54083e645fc28b83d2b9f7f57f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f3509959250cc7007130a3c8c171c45f818a0ee868318b9f1ce4761b084618a
+size 9922235
diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ca5d56863ac6142a961dc6c20c857d781959e935
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl comb_015_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 comb_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..70e3ad25b308e54083e645fc28b83d2b9f7f57f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f3509959250cc7007130a3c8c171c45f818a0ee868318b9f1ce4761b084618a
+size 9922235
diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/comb_015.xml b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/comb_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..669eb2e62dbc2f3baeef5241ff0c3c21fe892311
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/comb_015.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="comb_015">
+  <asset>
+    <material name="material_0" texture="texture_0_comb_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_comb_015_geometry_Looks_material_0" type="2d" file="mesh/comb_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/comb_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/comb_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/comb_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/comb_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/comb_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/comb_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/comb_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/comb_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/comb_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="comb_015">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e8620d8e4ad211f553a4ce5c8f0a6d653f883b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015.obj
@@ -0,0 +1,126412 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_015_geometry_Looks_material_0
+v -0.042247 0.008594 -0.017570
+v -0.042247 0.008594 -0.017570
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+v -0.027632 -0.000350 0.024573
+v -0.026416 0.000009 0.014834
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+v -0.026416 0.000009 0.014834
+v -0.026416 0.000009 0.014834
+v -0.032155 0.003197 0.024838
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+v -0.031954 0.003257 0.024896
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ce00124fbe769268913dec754e19c9f2c84576
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision.obj
@@ -0,0 +1,10930 @@
+# https://github.com/mikedh/trimesh
+
+o comb_015_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_0.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe14bde2f9c81f5b25efdfce49652c9fda4d2236
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_1.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dfb261d5225223564e25beb15d39193dca42cf9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_2.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c34d2d78635ab4eceb179543b805e4dcc1203d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_3.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a9195eddb2c8587a3af26b1f880d431c7a335da
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_3.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_4.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f150a3f711e4c2647ab74e220d3f29687d592130
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_4.obj
@@ -0,0 +1,949 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_5.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98ffd65ce7b62e919ca738e92df3fe2980a7901e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_6.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6195b8e6b6a10599fb3ce88fdfaf1d7820d12a67
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_7.obj b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb6027237c34f2b7135f447ece624abdd58076c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mjcf/mesh/comb_015_collision_7.obj
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