diff --git a/.gitattributes b/.gitattributes
index d5dc75d720ebd586e8dc274e3e86122c679340d4..8da6a35e1fa43803796b676dda992448543fd418 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2507,3 +2507,5 @@ dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/to
 dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/toothbrush_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/hair_clip_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/mesh/hair_clip_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/comb_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/comb_039.urdf b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/comb_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..01a0690688a91f10c4d5c4b63d14293bcf43d8d8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/comb_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="comb_039">
+   <link name="comb_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/comb_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>4f879f3561985d35b2525be6693e6c8b</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>comb</category>
+         <name>pink baby comb</name>
+         <color>pink</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>pink plastic baby comb with rounded handle and cartoon decoration</description>
+         <min_height>0.0246</min_height>
+         <max_height>0.0246</max_height>
+         <real_height>0.0246</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611120538</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.067883 -0.033932 -0.008483</min>
+            <max>0.082117 0.028847 0.016070</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>14</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/4f879f3561985d35b2525be6693e6c8b/comb_039.usd b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/comb_039.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5b5f613a7a1e3f711b04c1fbc793b4c97fd2c5a4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/comb_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b9585d5eec00b1353d736db142c2b94ab8f92945ec4447941fa770a9b772531
+size 4863197
diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039.glb b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c3768423f3a7905d0f2904634162d556d0e30fa8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eb07ae5ae0cbe91d4b10db03024cedd759ec1aa3363266606734d336a316b3a
+size 12974960
diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039.mtl b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e446473e6aeb03530cb700a79753ee1ecb959200
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039.mtl
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+newmtl comb_039_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/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039.obj b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2a4af18e2005116996f4320c26ea0a92e2500da
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039.obj
@@ -0,0 +1,114326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_039_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039_collision.obj b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d439d311c7edae6417440a48f83f61c76334e1c4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039_collision.obj
@@ -0,0 +1,4457 @@
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diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..af26b8cf27f08ffb6031f908551fd7f63544d994
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/comb_039_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7904af50e349331ed2664f98e7f6fd9de212344bb1c3d7e360650d61801da9a1
+size 9724862
diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff264071c5581b90a14818b0c9eb281743f07569
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl comb_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..af26b8cf27f08ffb6031f908551fd7f63544d994
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7904af50e349331ed2664f98e7f6fd9de212344bb1c3d7e360650d61801da9a1
+size 9724862
diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/comb_039.xml b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/comb_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6281f88a858e50dc5d62542eefbb5855781c586a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/comb_039.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="comb_039">
+  <asset>
+    <material name="material_0" texture="texture_0_comb_039_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_comb_039_geometry_Looks_material_0" type="2d" file="mesh/comb_039_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/comb_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/comb_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/comb_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/comb_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="comb_039">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039.obj b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c0f3d2fb76e78bf14299806ae3851bcd1b6fb23
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039.obj
@@ -0,0 +1,114326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_039_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision.obj b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a02e0aae5863890b1389e4e47eee11ee40da34
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision.obj
@@ -0,0 +1,4457 @@
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diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision_0.obj b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10532ef7f15e17558c711ec3fed9b2ea5775d5de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision_0.obj
@@ -0,0 +1,1798 @@
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diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision_1.obj b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac631d70cdfdcf802af8fdfa187c20672495cd8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision_2.obj b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3238417e2133ac76b1ca9c2f90c6bd219423936
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/mjcf/mesh/comb_039_collision_2.obj
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