diff --git a/.gitattributes b/.gitattributes
index 99e54864d8709309ca602405cb87b9887a3f4659..93e8c3330af58ac42a0b2c69629e94dbe9dc5621 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2541,3 +2541,5 @@ dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/na
 dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7ef0b600a22459c7a90a5ebcc79ab1f1/mesh/toothpaste_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7ef0b600a22459c7a90a5ebcc79ab1f1/toothpaste_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/toothbrush_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..48b5b77a9de579733c452715f034c3b685bfd3c8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_003_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd toothbrush_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e14a15059e01e6b5ed150a8f4fe98a31c2667a8e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/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/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.glb b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7aaea47d533520c249bc8fc8bfec474aa5005c24
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11217652
diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.mtl b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7640799cf2c443feedebbfd8c6e1a8d1cd36ca3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_003_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
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diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.obj b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ef0735a52f25e657b5fdfbfb7f164b7cd9c060e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_003_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003_collision.obj b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..209a4b507cbb67df0717af59e5dd315e2300ce31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003_collision.obj
@@ -0,0 +1,1712 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e14a15059e01e6b5ed150a8f4fe98a31c2667a8e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7755254
diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e14a15059e01e6b5ed150a8f4fe98a31c2667a8e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea5d8870f4bbd01a85957d81fcfb25e1127f850911ab43e65244f0368b09c4a
+size 7755254
diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003.obj b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003.obj
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index 0000000000000000000000000000000000000000..bdcb8c6d3bea4e5908bdcd055a427a819694b273
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_003_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision.obj b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b5c79c8fd71c82f8d45fb275c3f493bf018952
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision.obj
@@ -0,0 +1,1712 @@
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diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision_0.obj b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0524e1b329d93840389d873bb1076f94819c6d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision_0.obj
@@ -0,0 +1,817 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision_1.obj b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..285ee416e0d81b60f1abecbb2e75c813414715c3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision_1.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision_2.obj b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2422c296005201dd789a19ebffd85aebea8d981
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/mesh/toothbrush_003_collision_2.obj
@@ -0,0 +1,772 @@
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diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/toothbrush_003.xml b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/toothbrush_003.xml
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mjcf/toothbrush_003.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_003">
+      <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/846fee879c47579e9a1ddcc7c0d94745/textures/material_0.png b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/toothbrush_003.urdf b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/toothbrush_003.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_003">
+   <link name="toothbrush_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_003.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
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+         </geometry>
+         <gazebo>
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+            <mu2>0.60</mu2>
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+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>846fee879c47579e9a1ddcc7c0d94745</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>standard toothbrush</name>
+         <color>teal</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>elongated toothbrush with bristles and ergonomic handle</description>
+         <min_height>0.0240</min_height>
+         <max_height>0.0240</max_height>
+         <real_height>0.0240</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414144612</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
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+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Bristles are segmented, but head and handle are merged; tiny pink spots are noise, not functional parts.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/toothbrush_003.usd b/dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/toothbrush_003.usd
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