diff --git a/.gitattributes b/.gitattributes
index 4df1eaf3b69e67460e059a0a6676c55c05147aef..db3093dd3401432a172d778d22526df54ab2f07c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2461,5 +2461,5 @@ dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/comb_01
 dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/mesh/comb_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/toothpaste_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/0b26dafeb4fa515d8b4bee10cc0047c1/mesh/toothpaste_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/0b26dafeb4fa515d8b4bee10cc0047c1/toothpaste_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/toothbrush_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..59b34d881741b4352c64b24f747538ed090e6ea5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_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 toothbrush_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5493a02c514e678d67394109ef5f9278fa30993b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f355bad69b12c9188fa2e2c1441abad71e805378a5d22e43626d1751eeb41279
+size 8612675
diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015.glb b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5d4c83a04774a9df2bb206de1ac636949fe52795
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ceff5fb473f846d84ec358e83bcd20d59fb311e6e37a85f96905d45cdc007a8
+size 11803356
diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015.mtl b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..765ce80d6c154e7dd9d51e3fd78bb9fe98405047
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_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/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015.obj b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e1e51a71c02ac8b66243bdb151cde84906845f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015.obj
@@ -0,0 +1,111998 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_015_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015_collision.obj b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6ceebe2b341fa9e4d0410ed822c1ecd67173a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/toothbrush_015_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015.obj b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015.obj
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index 0000000000000000000000000000000000000000..cc9db85221041a72efa5fe3dce878033236a667d
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diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision.obj b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac45e58429188c7eb828326db40028ca5c6416ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision.obj
@@ -0,0 +1,2381 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision_0.obj b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5f050770cc7e8fda674c9dbdce60656074d878c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision_1.obj b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a330173db9f02ae21dc66a59d2db424c7379652
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision_2.obj b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/mesh/toothbrush_015_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/toothbrush_015.xml b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/toothbrush_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..028c5632b24367d82d1d0e3086d250236a6925e2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mjcf/toothbrush_015.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_015">
+  <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_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/textures/material_0.png b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5493a02c514e678d67394109ef5f9278fa30993b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:f355bad69b12c9188fa2e2c1441abad71e805378a5d22e43626d1751eeb41279
+size 8612675
diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/toothbrush_015.urdf b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/toothbrush_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..746e533eeecfb14369aefd84aecdccaa5fdc37d7
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+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/toothbrush_015.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_015">
+   <link name="toothbrush_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_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/toothbrush_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>0be0cf6258fe572bb27e0bc2d7c8ab36</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>bamboo toothbrush</name>
+         <color>brown</color>
+         <shape>elongated</shape>
+         <material>wood</material>
+         <description>slim bamboo toothbrush with small rectangular bristle head</description>
+         <min_height>0.0210</min_height>
+         <max_height>0.0210</max_height>
+         <real_height>0.0210</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518163808</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.084877 -0.010183 -0.006044</min>
+            <max>0.077614 0.009817 0.014909</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/0be0cf6258fe572bb27e0bc2d7c8ab36/toothbrush_015.usd b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/toothbrush_015.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/toothbrush_015.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4833017
diff --git a/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/video.mp4 b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 103664