diff --git a/.gitattributes b/.gitattributes
index dceb0961c04278c8b04edfff6fba04848afa3e88..d87e36f9624f531a66d12c372e6390148c30a4bc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2489,7 +2489,5 @@ dataset/bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be/mesh/mo
 dataset/bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be/mouthwash_cup_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/nail_clipper_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/hair_clip_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/mesh/hair_clip_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/comb_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/toothbrush_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f45ce8c5f0565ac97e81e6a2169dbc3c4091b5fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_034_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034.glb b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..54a499005e36dd59f913289feff1a58f48760f5d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034.mtl b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b0ded4b3560b29375c053c0ecf63df08f7dd89f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034.mtl
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+newmtl toothbrush_034_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034.obj b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5b2662698edff633c254b68d79dcfb9409348f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034.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/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034_collision.obj b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b63f9a31b38787ce51055f180e328a129df2f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mesh/toothbrush_034_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision.obj b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..271565f789476958db16286afd3234dfba874ad6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision.obj
@@ -0,0 +1,3012 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_0.obj b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5b56348a670edae2e02a52b6446e930b20ff99a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_1.obj b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ec8753fff4aa3ffafdaf7e669c20d0cbcbebeb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_2.obj b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06020bb0fe4b2678409f35acb6e0d33bb28815b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_2.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_3.obj b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0dac084b249cfbc1e58e8085c93f0bdf4882b1a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/mesh/toothbrush_034_collision_3.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/toothbrush_034.xml b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/toothbrush_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f3fcaab9ee1e8b367a62dec98263b08fa3c47a3f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/mjcf/toothbrush_034.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_034">
+  <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_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothbrush_034_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_034">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" 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/39a477b87d49539eabb3f5965fbf3baf/textures/material_0.png b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/textures/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b4980911196090461a6030a6fd654061d3a8146f98a2250d51da06e0f2b4c2c
+size 7461532
diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/toothbrush_034.urdf b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/toothbrush_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6156a0a31c78a187af40285f90125ca7a613ca7c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/toothbrush_034.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_034">
+   <link name="toothbrush_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_034.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_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>39a477b87d49539eabb3f5965fbf3baf</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>electric toothbrush</name>
+         <color>pink,blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>slim standing electric toothbrush with round base and blue bristles</description>
+         <min_height>0.1800</min_height>
+         <max_height>0.1800</max_height>
+         <real_height>0.1800</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124753</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025468 -0.022905 -0.051306</min>
+            <max>0.020673 0.022900 0.128694</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/39a477b87d49539eabb3f5965fbf3baf/toothbrush_034.usd b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/toothbrush_034.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dcd14c32511cc4a6df7c3a913c927cbd1908e22b0f1f3f22a80f5fb2a04dcebf
+size 4785423
diff --git a/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/video.mp4 b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/video.mp4
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/39a477b87d49539eabb3f5965fbf3baf/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b29275a706ea703973b0483c9c723f6c08f776f734b4ecb0ca6f4de71dcaa1d
+size 73870