diff --git a/.gitattributes b/.gitattributes
index ae1f274fcc8100b75254bc59a948dda006472fb8..c2f4231f3c9c74a5afe62e74f95d24fe16efbb21 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2505,9 +2505,5 @@ dataset/bathroom_supplies/personal_care/4d6337f9178d506ebdd785dc80cbe505/dental_
 dataset/bathroom_supplies/personal_care/4d6337f9178d506ebdd785dc80cbe505/mesh/dental_floss_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/toothbrush_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/toothbrush_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/51f72b5a1358598caa9b2c97a3c3e47b/hair_clip_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/51f72b5a1358598caa9b2c97a3c3e47b/mesh/hair_clip_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/mesh/razor_034.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/razor_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/mesh/toothbrush_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/toothbrush_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_035.urdf b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0d6e03f0a4475a6b6be9341fa0f4d63e543e2bd4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="comb_035">
+   <link name="comb_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/comb_035.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/comb_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>506d58fb435356039dbf0610859c46cd</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>comb</category>
+         <name>green comb</name>
+         <color>green,brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>curved dark green pocket comb with fine teeth</description>
+         <min_height>0.0096</min_height>
+         <max_height>0.0096</max_height>
+         <real_height>0.0096</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611120414</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.057935 -0.033348 -0.004798</min>
+            <max>0.062065 0.026388 0.004792</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/506d58fb435356039dbf0610859c46cd/comb_035.usd b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_035.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8544bf74348ace15cf543e370eee60f710160084
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e728f689d67bb3368e382f73f10dde12b663b550f992d0dcbb89866ba5dc9b40
+size 4910069
diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.glb b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a39f1eb6cde28758e8c26cecce88705f5d93507a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5efda8aa28757f1231cd5737cc65ecc11255e7df2739b503df77eac4a3dad8f4
+size 15048932
diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.mtl b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f8a0aa05eaaf17876b77702b3575be47f82b334b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.mtl
@@ -0,0 +1,6 @@
+newmtl comb_035_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/506d58fb435356039dbf0610859c46cd/mesh/comb_035.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a7d071809100d7244c2bd6a87645df70c6ed207
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.obj
@@ -0,0 +1,115302 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035_collision.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..340a7b89e84d2ec2ab44fcb25351b2f9554a503e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f4fa359e1273223b53194c95d237c4e00877200
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452b12163054f0733eeed38c58a73e1f553f5a1c37a9d29143a0931fe0512e28
+size 11770080
diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fad7c567861b9c87eddc922803a8dad0eabf781a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl comb_035_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd comb_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f4fa359e1273223b53194c95d237c4e00877200
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452b12163054f0733eeed38c58a73e1f553f5a1c37a9d29143a0931fe0512e28
+size 11770080
diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/comb_035.xml b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/comb_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa8d86d656920acb5ab2e5f5a15fe396f6c481c2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/comb_035.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="comb_035">
+  <asset>
+    <material name="material_0" texture="texture_0_comb_035_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_comb_035_geometry_Looks_material_0" type="2d" file="mesh/comb_035_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/comb_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/comb_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/comb_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/comb_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/comb_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/comb_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/comb_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/comb_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/comb_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="comb_035">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" 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/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9393e752658cb2640a4d36f754a862bc29aeebd2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035.obj
@@ -0,0 +1,115302 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_035_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8491518c79cce964cc3269f3eeb9e6d7179a64e0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision.obj
@@ -0,0 +1,6718 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_0.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8288225f1cae9c1a068412c21f29bdd90705b6a8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_1.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e28dc3f20065ed87af31722df6569281b821a55
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_2.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac62e391344b86a1ee77e96b184893c3fc5e5cb1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_3.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c6950c051716ac7568ab6605a36c4e5e874db95
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_4.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50681c1c7330583c6272ed6e244a4626b764d54b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_5.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0120de1984fb5da5e3c90602da0abffb6c69f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_6.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1bda26d9a33b145db883adcb03be090b8e8572b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_6.obj
@@ -0,0 +1,751 @@
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diff --git a/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_7.obj b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc095c1ccc7eeee79df7b8a488bf666f0ecb8de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mjcf/mesh/comb_035_collision_7.obj
@@ -0,0 +1,496 @@
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