diff --git a/.gitattributes b/.gitattributes
index 421bb8579622b9222bb650d4e9ab29cf558665f0..2e27f09d94afe72ecf300eedc63549b397c6fd2e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2553,9 +2553,5 @@ dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/dental_
 dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/mesh/dental_floss_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/toothpaste_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/comb_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8d226e73332a52b68d740b0d190c9cda/hair_clip_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8d226e73332a52b68d740b0d190c9cda/mesh/hair_clip_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/toothpaste_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/toothbrush_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..80edeca8ca92715c5de31f1ecfd2786cb0dbd5a8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_004_geometry_Looks_material_0
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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/8a72c93d7e265eba8706fad2cf249ca6/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..94063cb0d6db9b4da70cb9a80d5c88a74f32d4d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93ac28cf6ba9a5aaac4be77b8b2f3443df39fc844e1a9bac6877d8eb1bbe8ca7
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diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.glb b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6576ff71b6a48822071863417723bc49eeecad79
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27f9a5a948878b8dda95c0600954722d50bf91dbd6bd4f18a3cdd2690f108309
+size 10572896
diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.mtl b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..958dbeebfc5c6c8dcd76d63438596151199be8ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.mtl
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+newmtl toothbrush_004_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/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.obj b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a79500492ad0153a0e5db5e494a9c84284950ffe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.obj
@@ -0,0 +1,108096 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004_collision.obj b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..089c3f57f5f2d52bc9782b6786baeba0fcf60d65
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004_collision.obj
@@ -0,0 +1,2478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/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/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004.obj b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision.obj b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7714c6ea2389a5a47f7f38631db974ba473f7eb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision.obj
@@ -0,0 +1,2478 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_0.obj b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba4cf19c50f0c256f7a428422e416e216fa130c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_1.obj b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ad9d893693fc75b71792ed65b6bf67cad3c4cad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_2.obj b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b636383a57ace6c613c0a458e229d8c4b3b031bf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_2.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_3.obj b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a919c8e973b668f11b035855f2674d2e684f154
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/mesh/toothbrush_004_collision_3.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/toothbrush_004.xml b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/toothbrush_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5a9c89c4d733fb1b51088f84cf19d3e6ec11b8a7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mjcf/toothbrush_004.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothbrush_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_004">
+      <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/8a72c93d7e265eba8706fad2cf249ca6/textures/material_0.png b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..94063cb0d6db9b4da70cb9a80d5c88a74f32d4d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93ac28cf6ba9a5aaac4be77b8b2f3443df39fc844e1a9bac6877d8eb1bbe8ca7
+size 7390360
diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/toothbrush_004.urdf b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/toothbrush_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5285bb9e54c13697c0951b2557f4b2af2c4c99ad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/toothbrush_004.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_004">
+   <link name="toothbrush_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>8a72c93d7e265eba8706fad2cf249ca6</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>sleek gray electric toothbrush with charging base</description>
+         <min_height>0.2100</min_height>
+         <max_height>0.2100</max_height>
+         <real_height>0.2100</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414144636</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/8a72c93d7e265eba8706fad2cf249ca6/toothbrush_004.usd b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/toothbrush_004.usd
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@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/video.mp4 b/dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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