diff --git a/.gitattributes b/.gitattributes
index 5b4379b2352a462221cdb2eb5550010a585b24fc..fd1b88fb7d7eac807d342cbab1376140fda70e49 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2471,3 +2471,5 @@ dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/to
 dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/toothpaste_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/mesh/toothbrush_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/toothbrush_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/toothbrush_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eac2903e12a91e9fad23ea7e3355f5dea1530ea7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_002_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd toothbrush_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7df2c3922bd20f489d5f39fefb30085d18d958eb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6632842058109fb74904c4419165aee4bc72fde4156c73da749837c3d27f8f29
+size 6902477
diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002.glb b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..de14d3b7673e9da98550cd23e742a77179c3584a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10166692
diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002.mtl b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..68b7a0283ad74246c21196ddde5faea9a20ee146
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_002_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/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002.obj b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a143791376e0fffcd27bf927f1f0932c7668da0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002.obj
@@ -0,0 +1,108454 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_002_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002_collision.obj b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a03872adb0a5eb8e5d8cd2e2ebf060dd54ac44f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mesh/toothbrush_002_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002.obj b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002.obj
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diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision.obj b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0e6ec7d778f78d40f689e5589693424350b037
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision.obj
@@ -0,0 +1,1301 @@
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diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision_0.obj b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059d36ac6643dade924a4835489f50806910b559
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision_1.obj b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3c699a91d45f242d546121558af0aa078a4614e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision_1.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision_2.obj b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1ecb50db31e4bd00f9e00a7ef5f69f67ba9f1bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/mesh/toothbrush_002_collision_2.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/toothbrush_002.xml b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/toothbrush_002.xml
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/mjcf/toothbrush_002.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_002">
+      <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>
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diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/textures/material_0.png b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 6902477
diff --git a/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/toothbrush_002.urdf b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/toothbrush_002.urdf
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+++ b/dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/toothbrush_002.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_002">
+   <link name="toothbrush_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_002.obj" scale="1.0 1.0 1.0" />
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+      </visual>
+      <collision>
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+         <geometry>
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+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>
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+         <uuid>190dc7c8250f58f8a0c406b3ef8763a6</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>electric toothbrush</name>
+         <color>gray and blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray electric toothbrush with blue accents and bristle head</description>
+         <min_height>0.0207</min_height>
+         <max_height>0.0207</max_height>
+         <real_height>0.0207</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414144542</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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
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