diff --git a/.gitattributes b/.gitattributes
index e9306937626584b4d7f866e362ec9b8810ae16de..a1045f144c24ad1b7b12247ef70af9f0a2b5c420 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2619,7 +2619,5 @@ dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/to
 dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/toothpaste_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d39fd1af5bd75ff2952df73ca1692060/mesh/toothbrush_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d39fd1af5bd75ff2952df73ca1692060/toothbrush_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/nail_clipper_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d3a06b8f8c005860a9646c88628b7402/hair_clip_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d3a06b8f8c005860a9646c88628b7402/mesh/hair_clip_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/toothbrush_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e391c092daf74ce0f8de464ba933a061a5ffd45c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothbrush_036_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_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dacad682651fb49d9c16ac735b2f768f962a17f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd99b6c275aee3286834ccbae956b9528721c78789c309cd78b32ed506995692
+size 6873463
diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036.glb b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e9488147a2c0f1919d253d8d5701fda8f3e2bd37
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00d07d9a3b9ca6f72e4fc9531d88504469593e77f531ffe93e30217034f4743f
+size 10122124
diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036.mtl b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..77e1d84e8f723da6d7c9f5b2e36ecc50542a0271
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036.mtl
@@ -0,0 +1,6 @@
+newmtl toothbrush_036_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/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036.obj b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c488390165b6e31fe07411b2f0285d8e5b8f972
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036.obj
@@ -0,0 +1,108082 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothbrush_036_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036_collision.obj b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d17230bfa682e5f5fd8fd4bc6e5e5acda7323e22
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036_collision.obj
@@ -0,0 +1,1568 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mesh/toothbrush_036_geometry_Looks_material_0.png
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+size 6873463
diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:bd99b6c275aee3286834ccbae956b9528721c78789c309cd78b32ed506995692
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diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036.obj b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision.obj b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093be7211dd0b1a1434acc15ea3df38b158639c7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision.obj
@@ -0,0 +1,1568 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision_0.obj b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5198ea9048030f62ac0ac6609de8f6bcb4ad4de0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision_1.obj b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..628776468e380de9c396982093e88baf9d84a069
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision_1.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision_2.obj b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20bcf1519b8b6ff3ae5bc9ca075b9299bc1504b7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/mesh/toothbrush_036_collision_2.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/toothbrush_036.xml b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/toothbrush_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f517cde311eeb95f8fb867eea2f50ab901bcf73e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/mjcf/toothbrush_036.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothbrush_036">
+  <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_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothbrush_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothbrush_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothbrush_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothbrush_036">
+      <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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/textures/material_0.png b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:bd99b6c275aee3286834ccbae956b9528721c78789c309cd78b32ed506995692
+size 6873463
diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/toothbrush_036.urdf b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/toothbrush_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4ec62ff9712af30c31f35212d4854d1586d093d8
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+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/toothbrush_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothbrush_036">
+   <link name="toothbrush_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothbrush_036.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_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1750" />
+         <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>d71e67153c9f59d4843d96f330d37c7e</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>gray electric toothbrush with cylindrical handle and small round brush head</description>
+         <min_height>0.0218</min_height>
+         <max_height>0.0218</max_height>
+         <real_height>0.0218</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124820</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.106755 -0.010834 -0.010855</min>
+            <max>0.053245 0.010866 0.010959</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/d71e67153c9f59d4843d96f330d37c7e/toothbrush_036.usd b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/toothbrush_036.usd
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+++ b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/toothbrush_036.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4852053
diff --git a/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/video.mp4 b/dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 116144