diff --git a/.gitattributes b/.gitattributes
index e02b75d88dc1140a2596d87b60bccd9cdf4e676d..ef2e470569a0920747ab3e66da34fff4df90355a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2555,5 +2555,5 @@ dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/to
 dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/toothpaste_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mouthwash_cup_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd/dental_floss_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd/mesh/dental_floss_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/toothbrush_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..210a449b9ba356db1bad2f53f31e7fc35f5a9c5d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_005_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd toothbrush_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..77022bdd65f9b5ae62ac006a83df796f0b74b61e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f230ad5cff421128955697c57a0fff94fdba95d99b653eaf5b084cf52995e9
+size 6045154
diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.glb b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5a219e63f355e9b088f18149d281c3dafdcfea4e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae8f9032ae85c71c9c0af2be95615f7da5f331e61e0a936bced17bb00b729e8
+size 9475100
diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.mtl b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3eaac8404d2e3cfe6918a797c4a9740ada9f1da8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_005_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/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.obj b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c469c0a25736e8c2cd4d8c4d18056c7933892fa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.obj
@@ -0,0 +1,114100 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_005_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005_collision.obj b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0ce15f67670b4245884df70187e697c85087555
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005.obj b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005.obj
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diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision.obj b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9a644560987387e0079716b7f21dec172e2e644
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision.obj
@@ -0,0 +1,2191 @@
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diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_0.obj b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..664bb68bf0968985e0d0f1c7b78e72a2d95653df
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_1.obj b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb154709eadc60629b04dc7a780faec126ac6937
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_1.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_2.obj b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2365405095d3f7d52e4119e0fe675fb9885cb972
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_2.obj
@@ -0,0 +1,682 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_3.obj b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3350ce90bf97281766b9ce06ec02e216d2860a0c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_4.obj b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0e2222db80d0b1fa0dded777368425afe55a1d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/mesh/toothbrush_005_collision_4.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/toothbrush_005.xml b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/toothbrush_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bde46db94f00ae920e8ab1d16e91a333d4dec15e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mjcf/toothbrush_005.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothbrush_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/toothbrush_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_005">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" 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/924fc91cc6e55c9dae0d9a00ac280e33/textures/material_0.png b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..77022bdd65f9b5ae62ac006a83df796f0b74b61e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f230ad5cff421128955697c57a0fff94fdba95d99b653eaf5b084cf52995e9
+size 6045154
diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/toothbrush_005.urdf b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/toothbrush_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6487b7b4127d0d16882debf3730d110e97fb480d
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+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/toothbrush_005.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_005">
+   <link name="toothbrush_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>
+         <scale>1.000000</scale>
+         <uuid>924fc91cc6e55c9dae0d9a00ac280e33</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>standard toothbrush</name>
+         <color>gray and blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>elongated toothbrush with blue bristles and ergonomic handle</description>
+         <min_height>0.0265</min_height>
+         <max_height>0.0265</max_height>
+         <real_height>0.0265</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414144701</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/924fc91cc6e55c9dae0d9a00ac280e33/toothbrush_005.usd b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/toothbrush_005.usd
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 4959043
diff --git a/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/video.mp4 b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:390e04e443f99f3e64ef6f662d1f88d8456589916f15df9616389c2bf2ec21e2
+size 108615