diff --git a/.gitattributes b/.gitattributes
index 38391c10eb95fee1d95653478ab7bc4d4cab2ef8..ebae9ae764ab0d984f4728f6ed2363e10ebd0d6a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2591,3 +2591,5 @@ dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/ra
 dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/razor_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/toothpaste_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/toothbrush_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cac926e0a0249c0dd36b370706c46e4cd31167ac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5c9a1ff04757f8dbbdc99f77f4a813f4133cde4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c64e5fbd3231f219adba5806873eb7f41cb86154b1749fcb054e1e059e5fe5b
+size 7699400
diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.glb b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..69ee66d990fb1cc4d8d72455da733d427fa85d21
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97a17cc9099009423f8b228a15a68a7b46a1200de445975d527f29ead1baf372
+size 11034472
diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.mtl b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86ce6e34eb017324ea1a86d1c4f33252eecd0bb2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_010_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/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.obj b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c60709201455c7a44c00709cca4fb00fbba92c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.obj
@@ -0,0 +1,109306 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010_collision.obj b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a8080774f2158f632b036f2e2ed634306483d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010_collision.obj
@@ -0,0 +1,3333 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010_geometry_Looks_material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 7699400
diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c64e5fbd3231f219adba5806873eb7f41cb86154b1749fcb054e1e059e5fe5b
+size 7699400
diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010.obj b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010.obj
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index 0000000000000000000000000000000000000000..8e171997deea5bf2c3e14de51a1175ea1bc58648
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diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision.obj b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a51d16d23db36507fa43cbcacb56e7e3e2a636a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision.obj
@@ -0,0 +1,3333 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_0.obj b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cbba2a77e6f3b0ea6b6d5e8e6dce556a59970dd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_0.obj
@@ -0,0 +1,1891 @@
+# https://github.com/mikedh/trimesh
+v -0.03246952 0.00159546 -0.07520870
+v -0.03184092 0.00159544 -0.07158397
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diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_1.obj b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ff7edd71b18660598bb8c61fb1e7572c51d058
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_1.obj
@@ -0,0 +1,856 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_2.obj b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f8bab005f2515a544422a8d3a48f6460659f41
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_2.obj
@@ -0,0 +1,118 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_3.obj b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae3999945cba65924164e096e1bad1dd1baf1b39
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/mesh/toothbrush_010_collision_3.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/toothbrush_010.xml b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/toothbrush_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7d62d99f92835034492286c32a6c5dee3c25e6e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mjcf/toothbrush_010.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothbrush_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_010">
+      <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/b031daf7322c543ba8afcbf6b87004e0/textures/material_0.png b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/textures/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c64e5fbd3231f219adba5806873eb7f41cb86154b1749fcb054e1e059e5fe5b
+size 7699400
diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/toothbrush_010.urdf b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/toothbrush_010.urdf
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+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/toothbrush_010.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_010">
+   <link name="toothbrush_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>b031daf7322c543ba8afcbf6b87004e0</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>electric toothbrush</name>
+         <color>white and gold</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>sleek electric toothbrush with rounded base and bristle head</description>
+         <min_height>0.2200</min_height>
+         <max_height>0.2200</max_height>
+         <real_height>0.2200</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414144921</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/toothbrush_010.usd b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/toothbrush_010.usd
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+size 4916125
diff --git a/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/video.mp4 b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/video.mp4
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d80c95d36f929ec8418d0d37f7d0e24c3c7e0ea5c9c175f810fc7816597e06c
+size 77187