diff --git a/.gitattributes b/.gitattributes
index c8767e7717b55f2c50ec6b602d155a76a196b1cf..33dc3172f0a95c4764d3aea76255aa441b917329 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2455,7 +2455,5 @@ 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/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
+dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/comb_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/comb_007.urdf b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/comb_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb01516b059385e256812924728f3bd4f81797a1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/comb_007.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="comb_007">
+   <link name="comb_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/comb_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>048f46cce41a576b939f90f42d25ea56</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>comb</category>
+         <name>oval brush</name>
+         <color>white and gold</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>oval-shaped brush with bristles and ergonomic handle</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414143012</generate_time>
+         <gs_model>""</gs_model>
+      </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/048f46cce41a576b939f90f42d25ea56/comb_007.usd b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/comb_007.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6967fe395795052728bb82f242a0832e5c642bed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/comb_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a6cbd6a89bb111793e2c36a5c2fc2a53144d99421b557a0645ccf9cedc715e5
+size 5055302
diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007.glb b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1cb61fd955cabf3ec82a7ff470aa45aad265541b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f9c7c6633a87f7e4d343bc8c61b167a3a0ab53faaeea0c29212120fbc0b4008
+size 11047676
diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007.mtl b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcf0c3ac5aa823b0b87313ff3b09a158730d794b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007.mtl
@@ -0,0 +1,6 @@
+newmtl comb_007_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/048f46cce41a576b939f90f42d25ea56/mesh/comb_007.obj b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15bf2ca97c0c080b79078b973ea96c6dab122927
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007.obj
@@ -0,0 +1,125622 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007_collision.obj b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd4ea7dddb9b8ea58b6432290518b8f23c0cf304
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..126fc3e53b4410ac7f3f989b2b822984a773e402
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/comb_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7710ace98ef9223a19d38e34125d3b5bd2b786f553cb52d8ff85beeee0c8192e
+size 7493377
diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2514103661805ba0be7e0bea7761c40b30756a9d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl comb_007_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_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..126fc3e53b4410ac7f3f989b2b822984a773e402
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7710ace98ef9223a19d38e34125d3b5bd2b786f553cb52d8ff85beeee0c8192e
+size 7493377
diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/comb_007.xml b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/comb_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0685291fc65614401f620d734baf2b7358a40749
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/comb_007.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="comb_007">
+  <asset>
+    <material name="material_0" texture="texture_0_comb_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_comb_007_geometry_Looks_material_0" type="2d" file="mesh/comb_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/comb_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/comb_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/comb_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/comb_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/comb_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/comb_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/comb_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="comb_007">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007.obj b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f4850798b48caaa33645b7a481874ffac37e76
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007.obj
@@ -0,0 +1,125622 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_007_geometry_Looks_material_0
+v -0.012570 0.041353 0.013950
+v -0.012570 0.041353 0.013950
+v -0.013484 0.041243 0.010726
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+v -0.014255 0.041368 0.014624
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision.obj b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c7e7434b83dd535243c6dfa4f063878a08f76c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision.obj
@@ -0,0 +1,8963 @@
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_0.obj b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ee0716514ce34fbfe6f32b1c121a499b46c092
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_0.obj
@@ -0,0 +1,1129 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_1.obj b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..647306c401b76dc2efe9bcbf72dd06b89f0fb187
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_2.obj b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df37ea6cadb09814f72f44e4260638277929ae51
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_2.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_3.obj b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee631a00e7091bf337aae35e2d9e5a8baf817843
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_3.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_4.obj b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..433edee273d801aa7c3e02e0123e0f1e46baf482
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_5.obj b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5f17de946029d83488a6d1755439dceaa2e4e6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/mjcf/mesh/comb_007_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/textures/material_0.png b/dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/textures/material_0.png
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