diff --git a/.gitattributes b/.gitattributes
index 779b8298e227a53ad1d834107d5e96427e331e65..6547a19f1958bbe7191e925b501b2dec9d380ec1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2587,3 +2587,5 @@ dataset/bathroom_supplies/personal_care/a46de6c5f0a25b30b04e9bf0e417a78d/mesh/ra
 dataset/bathroom_supplies/personal_care/a46de6c5f0a25b30b04e9bf0e417a78d/razor_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/mesh/toothbrush_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/toothbrush_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/comb_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/comb_033.urdf b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/comb_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4246f2774d2330a6b10ea7cc8634c4480234b7aa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/comb_033.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="comb_033">
+   <link name="comb_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/comb_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>a9a3a835c88b52b092c170d740880093</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>comb</category>
+         <name>blue comb</name>
+         <color>blue</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>curved blue plastic comb with fine teeth and rounded spine</description>
+         <min_height>0.0206</min_height>
+         <max_height>0.0206</max_height>
+         <real_height>0.0206</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611120334</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.075006 -0.031269 -0.008263</min>
+            <max>0.074994 0.017965 0.012358</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/a9a3a835c88b52b092c170d740880093/comb_033.usd b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/comb_033.usd
new file mode 100644
index 0000000000000000000000000000000000000000..79743df1888d21379e3d1e0afa682a01da7ae6e2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/comb_033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04f79434e3eb4c9dca19fcc72a49402e5e16476857f66fb4df70b1fc13c6a7eb
+size 4803533
diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033.glb b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ed99de4bd6bbb131ec78bf5d10516cbe21980259
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03746b2ad265a3d9ea13bf14b3e29612e8415b0c401254c2243cca3a573bb712
+size 10874360
diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033.mtl b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f0cbce44ef95f66d9093836aafeb8ac5f6597741
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033.mtl
@@ -0,0 +1,6 @@
+newmtl comb_033_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/a9a3a835c88b52b092c170d740880093/mesh/comb_033.obj b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ea4426f48c505f4115e9687108cd938ee8228d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033.obj
@@ -0,0 +1,113872 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_033_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033_collision.obj b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a5a7c30adeca3506a9d712718d46a2c54acd8b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1e491254b1be264104070df4e42552aebde5986
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/comb_033_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a46655a8f6038c7902aff086e143e51399b915a007784e0de6c960417e10db06
+size 7713462
diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..80854592be00aa711032496af9b78ceec4b5c739
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl comb_033_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_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1e491254b1be264104070df4e42552aebde5986
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a46655a8f6038c7902aff086e143e51399b915a007784e0de6c960417e10db06
+size 7713462
diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/comb_033.xml b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/comb_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0f50997bc82fef992f2040e579ab4e712a07e79c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/comb_033.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="comb_033">
+  <asset>
+    <material name="material_0" texture="texture_0_comb_033_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_comb_033_geometry_Looks_material_0" type="2d" file="mesh/comb_033_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/comb_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/comb_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/comb_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/comb_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/comb_033_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="comb_033">
+      <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/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033.obj b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6599371a79ce23cbe989c9e6142d797201a23d94
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033.obj
@@ -0,0 +1,113872 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_033_geometry_Looks_material_0
+v 0.000596 0.017944 0.002488
+v 0.000596 0.017944 0.002488
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diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision.obj b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d45f3f79c54a347d6b17c3b51a09a9c406353c7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision.obj
@@ -0,0 +1,4587 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_0.obj b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44e3c8505708d400ff906529abdd66e434647f8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_0.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_1.obj b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e97c1eff8957593d5fb998ea39ff8ad6988b2ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_2.obj b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb93dd8894bdcee1ab9fe3e8d1130a3288a93c8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_3.obj b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bde97472afb1a2f6a099a47e149363af3c5361b7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/mjcf/mesh/comb_033_collision_3.obj
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