diff --git a/.gitattributes b/.gitattributes
index 210af7de8f91e86e4afd246ca1da5896ff746d7a..ae1f274fcc8100b75254bc59a948dda006472fb8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2509,7 +2509,5 @@ dataset/bathroom_supplies/personal_care/51f72b5a1358598caa9b2c97a3c3e47b/hair_cl
 dataset/bathroom_supplies/personal_care/51f72b5a1358598caa9b2c97a3c3e47b/mesh/hair_clip_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/mesh/razor_034.glb filter=lfs diff=lfs merge=lfs -text
 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/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mouthwash_cup_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/toothbrush_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9501745c4de6e6d4e9013eec52b708ce34600cfc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_022_geometry_Looks_material_0
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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/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d91e3236b54730aaac8e841591331ca33618785d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a711f462975888f8d9880d76a8bfa77787583b3352afc914f37896aa45523ea
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diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.glb b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fef205223eb7a66cab5e1a91df19b7a4fca58418
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b7ac136e0d5432fdd1984c2dc4a5e907bbeebb3c013aba30e64f916da4d41d4
+size 13908556
diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.mtl b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1f97c36d18c7bb619d4dc69577e3cfef7e59d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_022_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/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.obj b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40e085ed783c6562df4defc27cdfe3480f6bab59
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.obj
@@ -0,0 +1,119114 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_022_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022_collision.obj b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d29f2ae50558d54aeb9bdf01a932c4cee921e35
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022.obj b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022.obj
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diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision.obj b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd56e7548be56de8ee903898ac980ad61ff9af95
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision.obj
@@ -0,0 +1,3717 @@
+# https://github.com/mikedh/trimesh
+
+o toothbrush_022_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_0.obj b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96edbf9da61b2ea79c190f35360fca79c3910c69
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_1.obj b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e04ce7c7e98914e6915ea4e188b3d74ad5e49787
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_2.obj b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b34c72be75577fddedda97646c671b9960656b4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_3.obj b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a37765594e48d3fbac34e2cbebcdbf5324b9234
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/mesh/toothbrush_022_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/toothbrush_022.xml b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/toothbrush_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3da8ded1f5878e76c800579428d510703f33b010
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mjcf/toothbrush_022.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_022">
+  <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/toothbrush_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothbrush_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_022">
+      <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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/textures/material_0.png b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a711f462975888f8d9880d76a8bfa77787583b3352afc914f37896aa45523ea
+size 10411160
diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/toothbrush_022.urdf b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/toothbrush_022.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/toothbrush_022.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_022">
+   <link name="toothbrush_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_022.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/toothbrush_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>52d5370b08ad54ed8f46ea673bf5e4e0</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>pink toothbrush</name>
+         <color>pink</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>pink electric toothbrush with compact head and colored bristles</description>
+         <min_height>0.0273</min_height>
+         <max_height>0.0273</max_height>
+         <real_height>0.0273</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124521</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.104944 -0.017342 -0.011625</min>
+            <max>0.055056 0.017354 0.015704</max>
+         </aabb>
+         <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/toothbrush_022.usd b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/toothbrush_022.usd
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+size 5079370
diff --git a/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/video.mp4 b/dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/video.mp4
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