diff --git a/.gitattributes b/.gitattributes
index a10e053e8709d980f0703c81ec03f844cf55263a..6ece89df8a8464b55836ab30545b932a8ec7df6a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2621,9 +2621,5 @@ dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mo
 dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mouthwash_cup_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/mesh/toothbrush_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/toothbrush_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/mesh/toothbrush_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/toothbrush_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4/mesh/nail_clipper_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4/nail_clipper_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/da55a5709af85f19a5619773e3394e57/mesh/nail_clipper_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/da55a5709af85f19a5619773e3394e57/nail_clipper_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/comb_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/comb_001.urdf b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/comb_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bb137b6a98df40c94ec050c28c25aa01ffe95964
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/comb_001.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="comb_001">
+   <link name="comb_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/comb_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>d81754a5cad2550d92e9cbac8945057d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>comb</category>
+         <name>wooden comb</name>
+         <color>brown</color>
+         <shape>elongated</shape>
+         <material>wood</material>
+         <description>curved wooden comb with decorative engravings and fine teeth</description>
+         <min_height>0.0150</min_height>
+         <max_height>0.0150</max_height>
+         <real_height>0.0150</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414142715</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/d81754a5cad2550d92e9cbac8945057d/comb_001.usd b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/comb_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..345ac77a703e3358a107d13acf8fd3dc0587ba36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/comb_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b82118c10a09523c2e79610096e4d8af834138c29648b3e20a1e6112a174228a
+size 5063045
diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001.glb b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d7477085bc5a6d917224576fe123bbcc67459725
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76cd842c9446f6b8cd476d0aeac3372a7483d7ef6af7d6ce91293df3339e103
+size 13618112
diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001.mtl b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6993d40cdaacc071be4d8bf63eb0a07386bcf801
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001.mtl
@@ -0,0 +1,6 @@
+newmtl comb_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/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001.obj b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61711e190787af63643c37ce6cb01541b6679668
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001.obj
@@ -0,0 +1,143070 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_001_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001_collision.obj b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e8852f112a14504933a84a79327b6f6e2e07f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001_collision.obj
@@ -0,0 +1,7912 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d02216fbe959d17dab6fd26cf8f3a170821751
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/comb_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9abe72952d36b9d4d24b43fc18202673d468268c69f9d07170b2cada053455
+size 10085453
diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5db75556b1463426d367becece484c54eb61b0e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl comb_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 comb_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d02216fbe959d17dab6fd26cf8f3a170821751
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9abe72952d36b9d4d24b43fc18202673d468268c69f9d07170b2cada053455
+size 10085453
diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/comb_001.xml b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/comb_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7d715284029d94091cbfddea3131534155458756
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/comb_001.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="comb_001">
+  <asset>
+    <material name="material_0" texture="texture_0_comb_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_comb_001_geometry_Looks_material_0" type="2d" file="mesh/comb_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/comb_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/comb_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/comb_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="comb_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001.obj b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdccf15628ffedf42e29bd0dbff893587594dc1f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001.obj
@@ -0,0 +1,143070 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_001_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_collision.obj b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..132cd1b63e98cffd5d26a2d9a1825071165e6c2c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_collision.obj
@@ -0,0 +1,7912 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_collision_0.obj b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292f183b6f7addc4cc95372a2ebaac0914d5e5ab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_collision_1.obj b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2476266ae570867a445ec1570c72f3f79de54e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d02216fbe959d17dab6fd26cf8f3a170821751
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/mjcf/mesh/comb_001_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/textures/material_0.png b/dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d02216fbe959d17dab6fd26cf8f3a170821751
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