diff --git a/.gitattributes b/.gitattributes
index 5c34e002335f460834bf3b2a63df0f967749e5e4..fc309c360ed7a1662c9a3971e96dceb2c27dd83c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2503,3 +2503,5 @@ dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/hair_cl
 dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/mesh/hair_clip_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4d6337f9178d506ebdd785dc80cbe505/dental_floss_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4d6337f9178d506ebdd785dc80cbe505/mesh/dental_floss_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/toothbrush_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b41418175624e6846c977fb24bdf2982289d0cfa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_023_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 toothbrush_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c93f587e1e99a03a3c98e55f9072fd16404456c1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd9ee0328dd0fb3f79f677c51034bd7ac536e4f0fd7d87b898f6d705a6a3b5c
+size 6206709
diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.glb b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5ac4480b7deb12bdae3e9d119124d9e46a54d0e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05c8051878ba817e5258c257cd4f72a808a30204ca7fd9103ce43dea416b088
+size 9378748
diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.mtl b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..898d2bcaa8cf520dbb324eae53eac82c0f0f2009
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_023_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/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.obj b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a83aa417380834330bd89303115e92c263997776
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.obj
@@ -0,0 +1,107060 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_023_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023_collision.obj b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0804334c258ba00e365dc82f8ae9787716788b1b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023.obj b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023.obj
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023_collision.obj b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d43bac2a651dcd0fb29031968e41fe26b741a595
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023_collision.obj
@@ -0,0 +1,2278 @@
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023_collision_0.obj b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf68122fbad9fda89de6bd1f424dd4f0af87b91d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023_collision_1.obj b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5bf8f301713c514b7e49254acf66c0f4438899b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/mesh/toothbrush_023_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/toothbrush_023.xml b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/toothbrush_023.xml
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+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mjcf/toothbrush_023.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_023">
+  <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_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_023">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/textures/material_0.png b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/toothbrush_023.urdf b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/toothbrush_023.urdf
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+++ b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/toothbrush_023.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_023">
+   <link name="toothbrush_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_023.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_023_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>50b89769cd75506a9da93468810c172b</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>electric toothbrush</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray electric toothbrush with cylindrical handle and small brush head</description>
+         <min_height>0.0199</min_height>
+         <max_height>0.0199</max_height>
+         <real_height>0.0199</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124535</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.104019 -0.009641 -0.009628</min>
+            <max>0.055981 0.009611 0.010264</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>
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diff --git a/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/video.mp4 b/dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/video.mp4
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