diff --git a/.gitattributes b/.gitattributes
index 7759b56c95529bb5023471a1aea0b43086539cf1..2d9e64c690c64f293a11eb547c525253fb2cc59b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2575,3 +2575,5 @@ dataset/bathroom_supplies/personal_care/9e1c9f4a38f2576f935ee92d802eaefc/mesh/to
 dataset/bathroom_supplies/personal_care/9e1c9f4a38f2576f935ee92d802eaefc/toothpaste_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/toothpaste_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/toothbrush_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac36acf89c5c2acd2d74fa36ccb7131b0a71626a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_016_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ee90f4fff4c5f9e73c5c7f7ffc4727f477c3264
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016.glb b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6facc9573f53cf3cb8f7888f26199597ff7bb4ea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b4e9b13e83f916ef8fe8b581f0bdc4894c92e9d63bfcccb9521a378a9d76d3d
+size 11499672
diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016.mtl b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cbdc90334a03876482a2135a96fc8c099363681f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016.mtl
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+newmtl toothbrush_016_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/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016.obj b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39deaa08deffed50a31cfcc3f051a54875e74a26
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016.obj
@@ -0,0 +1,111282 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016_collision.obj b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6e58c04c91c8fcda74db6151b7dfad393d2f0c7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mesh/toothbrush_016_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision.obj b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1313bef175f7838f0baa8e67fff6440154523646
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision_0.obj b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c75297ba81e45b7c0574b5e10e48cda57a581f8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision_1.obj b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dfe99f44345bfc0d992445106033d4d2ed5035f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision_2.obj b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5573a07fbd6515c7f7a12b06654ae9777f8d01c1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/mesh/toothbrush_016_collision_2.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/toothbrush_016.xml b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/toothbrush_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d85da7103a1fbb24b5faea5ec029ee157e961dab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/mjcf/toothbrush_016.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_016">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_016">
+      <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/9b819236bf3253c1bc0a98c368ce3a20/textures/material_0.png b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0dc741bbc50b442dd79ccd7c514800a0311751783683f5de4be396901c7e54c
+size 8094661
diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/toothbrush_016.urdf b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/toothbrush_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..83feea07230d58cae2f6413c5cb239b308129f96
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/toothbrush_016.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_016">
+   <link name="toothbrush_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_016.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_016_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>9b819236bf3253c1bc0a98c368ce3a20</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>cylindrical electric toothbrush handle with small oval brush head</description>
+         <min_height>0.0256</min_height>
+         <max_height>0.0256</max_height>
+         <real_height>0.0256</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518163821</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.077329 -0.010535 -0.011658</min>
+            <max>0.039255 0.009465 0.013964</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/toothbrush_016.usd b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/toothbrush_016.usd
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+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/toothbrush_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64cc4e54b5abc5e5535e07f51d881cb913e16dbbb34bd9338c7fc9910966131e
+size 4957251
diff --git a/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/video.mp4 b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/video.mp4
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9b819236bf3253c1bc0a98c368ce3a20/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86ff25a1ba26f99d626a000315127762d7f64cf746261ba0f48c36c4dc657b32
+size 111079