diff --git a/.gitattributes b/.gitattributes
index d1c6d5ead3669fa923a9aca7e896f70ef956f713..072df1a708d02edbf475fd2817e2fa2ffbaf5d9e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2611,7 +2611,5 @@ dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/to
 dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/toothpaste_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/comb_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/mesh/comb_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/toothbrush_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/toothbrush_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a736f77a220a6bb84b2e5155a0b14da5ab9fa278
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fe0276c536ea351e45f86e3330ea10e405e6e89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc3f5124634018ec6532920a0a89fdbc75b8aaab95d3bbf07b466713f87fff4
+size 7660832
diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.glb b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2a072075544db93ba64a466ca8857f16986ed93a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5a031d2a8fbc4a2bfada212a225df3ca624c92100f88cf3a0f66164da95929
+size 11015400
diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.mtl b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3bfc21688d1cf81716a047f6a2afa0c3c564c284
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_040_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/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.obj b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..553fba2aea9bb821dd3ed966f5fe8186434c56f8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.obj
@@ -0,0 +1,110008 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_040_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040_collision.obj b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee1df7b76422835f9b9773977a67fd87730f63ef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040_collision.obj
@@ -0,0 +1,1783 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040_geometry_Looks_material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 7660832
diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fe0276c536ea351e45f86e3330ea10e405e6e89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc3f5124634018ec6532920a0a89fdbc75b8aaab95d3bbf07b466713f87fff4
+size 7660832
diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040.obj b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040.obj
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index 0000000000000000000000000000000000000000..93835c35202595c9f26fd0ec8fe4dd13a7b3f974
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040_collision.obj b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b42f56e11b775be7774b5850e81f3fc3833f5ad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040_collision.obj
@@ -0,0 +1,1783 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040_collision_0.obj b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9c737534e4ff070dfe5ce78102933957052d33c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040_collision_1.obj b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..723d0fbcc338ccc9817194b153ff099dd9361e94
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/mesh/toothbrush_040_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/toothbrush_040.xml b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/toothbrush_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8b08387d97c5ee1ed8cf4f0b1d745262069fb937
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mjcf/toothbrush_040.xml
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+      <geom type="mesh" mesh="collision_mesh_0_1" 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/ca1c8e2dc84959168bbd0c6308ebe1e1/textures/material_0.png b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc3f5124634018ec6532920a0a89fdbc75b8aaab95d3bbf07b466713f87fff4
+size 7660832
diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/toothbrush_040.urdf b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/toothbrush_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..071f474d731697cac1a6bb9c9024956c964d7a3c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/toothbrush_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_040">
+   <link name="toothbrush_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_040.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_040_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>ca1c8e2dc84959168bbd0c6308ebe1e1</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>red toothbrush</name>
+         <color>gray,red</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>slim manual toothbrush with red grip and gray bristle head</description>
+         <min_height>0.0159</min_height>
+         <max_height>0.0159</max_height>
+         <real_height>0.0159</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124904</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.090339 -0.007530 -0.008140</min>
+            <max>0.069661 0.007542 0.007758</max>
+         </aabb>
+         <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_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/ca1c8e2dc84959168bbd0c6308ebe1e1/toothbrush_040.usd b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/toothbrush_040.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/toothbrush_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aed50ece29218f35a42e2a8d1df37835bdaaeecd0f813c636bfb3227878a09a
+size 4880646
diff --git a/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/video.mp4 b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..713a4871e5c76a88739a11eee60a882859f900b0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4d3ac803ccd408f648d2ef95dea7b4f19469cc5926a17cc678673435c4024d
+size 99911