diff --git a/.gitattributes b/.gitattributes
index 80d3df999a3c99d9354f1c544b674e752f2ce0d6..30e2175aed2baab4ae8c48a6e53b6246a8fbc085 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2629,7 +2629,5 @@ dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/na
 dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/nail_clipper_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ed06b5b051ee53bb85914c65b9ec8ffc/mesh/razor_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ed06b5b051ee53bb85914c65b9ec8ffc/razor_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/razor_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/hair_clip_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/mesh/hair_clip_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/toothbrush_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58871a9c99931be4bdc8a76e7593b3d91de957c3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0827dfe2566e8711e8fa2660b4a28f09e5b42738
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d898a53c0b38829c19238b8d0e554a64469ce65c5f9248e78567e41d8a91c94
+size 6641470
diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025.glb b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..12f0ebe8c77f34efe473f0bcce7ffe75d707befb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0f5274e46d16f550415a3e64b2f896f160d849aa99656cb676e6265daad4e7e
+size 9826084
diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025.mtl b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..124e9e3efc15dca315083671312e3e495e3d62fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_025_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/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025.obj b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97f7b9be0ed028338742d108488c80046a1eb682
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025.obj
@@ -0,0 +1,108758 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_025_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025_collision.obj b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a22685a198b63201484d17435969a48b0d9de9d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/toothbrush_025_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..0827dfe2566e8711e8fa2660b4a28f09e5b42738
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+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 6641470
diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025.obj b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025.obj
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index 0000000000000000000000000000000000000000..23740b254eff37c216001fef6ba7b26a1510e3b1
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision.obj b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed9912af06dadeaffa2ebd4ceb84f227a1fd75c0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision.obj
@@ -0,0 +1,1553 @@
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diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision_0.obj b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0698bc598c6fda152aab86c7efd8b4a275f4761e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision_1.obj b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dae5c281932b87ed14357ade36f3df6280bf76c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision_1.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision_2.obj b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b61b4c2b0dc438a51b4ed6b08232cd0fd652dd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/mesh/toothbrush_025_collision_2.obj
@@ -0,0 +1,115 @@
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diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/toothbrush_025.xml b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/toothbrush_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..93c582b4a5c754f58d4a0761c83e7a64267e96d8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mjcf/toothbrush_025.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_025">
+      <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>
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diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/textures/material_0.png b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:9d898a53c0b38829c19238b8d0e554a64469ce65c5f9248e78567e41d8a91c94
+size 6641470
diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/toothbrush_025.urdf b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/toothbrush_025.urdf
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+++ b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/toothbrush_025.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_025">
+   <link name="toothbrush_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>eb4c0a5fd5f25786a5bf5cf1be644e46</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 gray electric toothbrush with cylindrical handle and small brush head</description>
+         <min_height>0.0187</min_height>
+         <max_height>0.0187</max_height>
+         <real_height>0.0187</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124600</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.103781 -0.009189 -0.009387</min>
+            <max>0.056219 0.009195 0.009310</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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+size 4815326
diff --git a/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/video.mp4 b/dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/video.mp4
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