diff --git a/.gitattributes b/.gitattributes
index 94a21cd6963fd9948a3ca2c8923ac2c87f3c9fd8..bced9ee8db8cc4c92bb6b771c193a29de82afeca 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2597,11 +2597,5 @@ dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/to
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 dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/nail_clipper_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/hair_clip_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/mesh/razor_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/razor_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/mesh/toothpaste_017.glb filter=lfs diff=lfs merge=lfs -text
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+dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a7ebb15b44630fecdffdfcf4705ada8da9205dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_039_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/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/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039.glb b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f81624a6e14f9031ccee48cf301865bb72c05541
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10505744
diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039.mtl b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b55a8724b3ea0e0dfae3cbeba1ef3b6f70fc921
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039.mtl
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+newmtl toothbrush_039_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039.obj b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7893b374ac804d0bce0bc8d5c7dc4d709521d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039.obj
@@ -0,0 +1,110522 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_039_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039_collision.obj b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae9884ebcb3efd635bdcb85344f007afdc62bdf4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mesh/toothbrush_039_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039.obj b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision.obj b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e1e9bf0f9a67529ec0ebd858905350397c5e09
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision.obj
@@ -0,0 +1,1814 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision_0.obj b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e69ee010ebfb88f4c6f248d5aab0f800d38199c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision_1.obj b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..109d31274fe503ee643a1197cfe4eb1fbb0ba2db
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision_1.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision_2.obj b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..615a051488c22e3c02c5c88b6cbafc56e2ab78f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/mesh/toothbrush_039_collision_2.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/toothbrush_039.xml b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/toothbrush_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f858868ee0280480794e15f208d0c9f09a7cb671
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/mjcf/toothbrush_039.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_039">
+      <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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/textures/material_0.png b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/textures/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60fccf7d8a39c41bde38da40067d7fee5fe9b8ea82762a333680f107c0f7098
+size 7128446
diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/toothbrush_039.urdf b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/toothbrush_039.urdf
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index 0000000000000000000000000000000000000000..ac42d12d7930df510de77d856f2cc2aae4f77764
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+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/toothbrush_039.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_039">
+   <link name="toothbrush_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>b66a9f7749ff55a8a99573294b32597b</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>electric toothbrush</name>
+         <color>black,blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>black electric toothbrush with blue bristles and cylindrical handle</description>
+         <min_height>0.0267</min_height>
+         <max_height>0.0267</max_height>
+         <real_height>0.0267</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124853</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.104949 -0.010281 -0.012392</min>
+            <max>0.055051 0.009724 0.014328</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/b66a9f7749ff55a8a99573294b32597b/toothbrush_039.usd b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/toothbrush_039.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4940022
diff --git a/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/video.mp4 b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/video.mp4
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+++ b/dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:754a2b72313570c8993c7ec038c4aba0856375c79928aaf566d9cb52135766ac
+size 86377