diff --git a/.gitattributes b/.gitattributes
index dce08a580923b49d8ea1b5397f41b1aeaa1afbf1..47b8f4703f4d42e008daef43643a3fc7dd647914 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2467,3 +2467,5 @@ dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/hair_cl
 dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/mesh/hair_clip_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/toothpaste_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/toothbrush_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3067c66b8dc6d2121f66fac5865e9689571b445c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_017_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_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..665dc02daf00de7268923afc1d596b174ba098e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ca0ed788d123c8274552265c9aca658d96e89320264c20f97aacb2225c7789b
+size 6249724
diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.glb b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a111ff7e13797eef9df114e3dd47ed72313ae99e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f48b937618647a99464c29877fe40419958ee2d5a2ddf0bf58230f30defaf9
+size 9473120
diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.mtl b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0638320259fb06702357afb05595d027a9f1ee91
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_017_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/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.obj b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bebfa3145b4a720edb490668d3ffceb93ea6be0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.obj
@@ -0,0 +1,110288 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_017_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017_collision.obj b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2379c788a00c0b71f8a92133fc579a700c0222ed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017_collision.obj
@@ -0,0 +1,1955 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 6249724
diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 6249724
diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017.obj b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision.obj b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bfd97c06d1e5e889f1102c7e8461bc87d93531c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision.obj
@@ -0,0 +1,1955 @@
+# https://github.com/mikedh/trimesh
+
+o toothbrush_017_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision_0.obj b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d422d09dbd8b6e0066f0f4547f14ef3afd0e41f6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision_1.obj b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29162fa3149606334d72188957f95ef5d83fff91
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision_1.obj
@@ -0,0 +1,106 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision_2.obj b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/mesh/toothbrush_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..844f4563f3a05d8073eb34c18062b70b7d183801
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diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/toothbrush_017.xml b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/toothbrush_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b2bf182d0e2b5ff7f93899390b6f2e1d8360977e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mjcf/toothbrush_017.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_017">
+  <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_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_017">
+      <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/0cc1b3941de25d52a2219ecc90c94fb8/textures/material_0.png b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..665dc02daf00de7268923afc1d596b174ba098e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1ca0ed788d123c8274552265c9aca658d96e89320264c20f97aacb2225c7789b
+size 6249724
diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/toothbrush_017.urdf b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/toothbrush_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..263508df9f49444e1d7a36ec50f7a90080b3616a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/toothbrush_017.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_017">
+   <link name="toothbrush_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>0cc1b3941de25d52a2219ecc90c94fb8</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>electric toothbrush</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>black electric toothbrush with cylindrical handle and small brush head</description>
+         <min_height>0.0200</min_height>
+         <max_height>0.0200</max_height>
+         <real_height>0.0200</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518163836</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.098932 -0.010000 -0.010117</min>
+            <max>0.053895 0.010000 0.009904</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/0cc1b3941de25d52a2219ecc90c94fb8/toothbrush_017.usd b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/toothbrush_017.usd
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+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/toothbrush_017.usd
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diff --git a/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/video.mp4 b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92110c21417ea0f20e1348271bf1bb3ecefb1115
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/video.mp4
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