diff --git a/.gitattributes b/.gitattributes
index 54944b776bdd071baee1ae7cd266829da40c0c14..c8767e7717b55f2c50ec6b602d155a76a196b1cf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2455,5 +2455,7 @@ dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/comb_03
 dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/dental_floss_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/mesh/dental_floss_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mouthwash_cup_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/01842359953056e0890da6c917a0b3ac/dental_floss_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/01842359953056e0890da6c917a0b3ac/mesh/dental_floss_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/toothbrush_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..844df0318a51c5f56e8a2b1d0d29115892be812e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_030_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 toothbrush_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d49e56a7af09fc5b22231a55c7cdbaf791bc9a42
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efa127a6a83b4bd9502ceb68756dfd7e347e226ee7c33bec5dc1951374ccd7ba
+size 7665681
diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030.glb b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..696b6b8884d9401de059598299b9314c568adc56
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c9e7e6f91f6c05c5c0c695c1735edea10906b07987723c5463751d09fc026e
+size 10867720
diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030.mtl b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a5ab9d3cb63bfde2438026cd22aff9e9c0c11e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_030_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/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030.obj b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40c3dc6b092983ce5abfad237858705a8fbf35b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030.obj
@@ -0,0 +1,113126 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_030_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030_collision.obj b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb13eca1dc18c75525b9ede286c7c14c1811d502
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mesh/toothbrush_030_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030.obj b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030.obj
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diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision.obj b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60e4fa9b708243af10856080fba36946f153aa8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision.obj
@@ -0,0 +1,2286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_0.obj b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad7b9d506ce83276405035e21c8c12eaccb34bd1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_1.obj b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dac32306a9fc4182ecb734a636314b8400b85422
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_2.obj b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08773735a154fd1547b8a65aa3e69c610a9014da
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_3.obj b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8986034a3a6578945d82f469642e28ed9e03640e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/mesh/toothbrush_030_collision_3.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/toothbrush_030.xml b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/toothbrush_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..14f4455598678a4a13d64f76951849321d344666
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/mjcf/toothbrush_030.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothbrush_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_030">
+      <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/05ee3cb0fb2b5d14b567a60e21022ef5/textures/material_0.png b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d49e56a7af09fc5b22231a55c7cdbaf791bc9a42
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+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:efa127a6a83b4bd9502ceb68756dfd7e347e226ee7c33bec5dc1951374ccd7ba
+size 7665681
diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/toothbrush_030.urdf b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/toothbrush_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0fb16f0c3c6079ede9dcbcb178b59b7886c883e0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/toothbrush_030.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_030">
+   <link name="toothbrush_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>05ee3cb0fb2b5d14b567a60e21022ef5</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>slim electric toothbrush with round charging base and small brush head</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124702</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.016281 -0.016165 -0.046879</min>
+            <max>0.016058 0.016162 0.113121</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/05ee3cb0fb2b5d14b567a60e21022ef5/toothbrush_030.usd b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/toothbrush_030.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/toothbrush_030.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:341bf417886f6c5919e01bf160e0dc39c2e683fd5a432ae09a47bdc2ee8466f4
+size 4829906
diff --git a/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/video.mp4 b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..107675a153e24d796ae806596479d4d61a266f41
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3d0148809913b9a4d5a719de86465f9c5909811c7879ef792540239a9daabb0d
+size 60497