diff --git a/.gitattributes b/.gitattributes
index 8a4aff685313f033ea190d15cd981bf40791ccb9..d1c6d5ead3669fa923a9aca7e896f70ef956f713 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2613,5 +2613,5 @@ dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/comb_02
 dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/mesh/comb_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ce6e362a51535f3f964c06561044256a/mesh/toothpaste_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ce6e362a51535f3f964c06561044256a/toothpaste_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/toothbrush_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96dc37bee091d9f3c9b66e2b5606020aa4fdd67b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d807074d2ea07e090003a94d30e7583e518c8e0d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85e5c1c545a7065b245b11968c5d70dd23767fa0503862b27de7a82b6601af74
+size 7667911
diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.glb b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0dc16dd462641415d9d2fdd9afae985921349e9c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f5dea5e427c773daf112c63de9305a8d3300bf2de1c571ed0b72bf203b7c1f
+size 10757028
diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.mtl b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7b93feb6d415434e2b97bd60ecf026f32a287917
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_001_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/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.obj b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b87b231ff9eb2a7766721035f9fbff98cb138e3f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001.obj
@@ -0,0 +1,109602 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_001_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001_collision.obj b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b91ef2efdf4011eb71bf2695447f886031753f9d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001_collision.obj
@@ -0,0 +1,1324 @@
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diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mesh/toothbrush_001_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 7667911
diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 7667911
diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001.obj b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001.obj
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index 0000000000000000000000000000000000000000..1dad40e0c77cb6d4cce57a58c68997ef57ddc2b6
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+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001_collision.obj b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00388579ebb030834ff1572c2d7fc287efdfcf33
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001_collision.obj
@@ -0,0 +1,1324 @@
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diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001_collision_0.obj b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04874e02b603d6cdc45ad3059830ecc46c693155
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001_collision_1.obj b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde416a417ce95ab29d5f52658de3e2b0a8bb59c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/mesh/toothbrush_001_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/toothbrush_001.xml b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/toothbrush_001.xml
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+++ b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/mjcf/toothbrush_001.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_001">
+  <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_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/textures/material_0.png b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/toothbrush_001.urdf b/dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/toothbrush_001.urdf
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+<?xml version='1.0' encoding='utf-8'?>
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+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothbrush</category>
+         <name>ergonomic toothbrush</name>
+         <color>blue and white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>blue and white toothbrush with soft bristles and ergonomic handle</description>
+         <min_height>0.0165</min_height>
+         <max_height>0.0165</max_height>
+         <real_height>0.0165</real_height>
+         <min_mass>0.02</min_mass>
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+         <version>v0.1.0</version>
+         <generate_time>20260414144518</generate_time>
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+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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