diff --git a/.gitattributes b/.gitattributes
index 58b65e763adc893be225bda61a14730e4c39722c..cecb3d1eb9b2fdc40a47f8fe9edef9f85558f3e5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2597,3 +2597,5 @@ dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/to
 dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/toothpaste_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/nail_clipper_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/hair_clip_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/hair_clip_030.urdf b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/hair_clip_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e0f00fe97a5b14c5dfa31b0a73e7685426d8d71c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/hair_clip_030.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hair_clip_030">
+   <link name="hair_clip_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hair_clip_030.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/hair_clip_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0125" />
+         <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>b5477f9e0f1b598d8a5246d70235a52e</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>hair_clip</category>
+         <name>brown snap clip</name>
+         <color>brown,beige</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>elongated brown hair clip with beige snap underside</description>
+         <min_height>0.0124</min_height>
+         <max_height>0.0124</max_height>
+         <real_height>0.0124</real_height>
+         <min_mass>0.005</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611122020</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.043422 -0.008814 -0.006138</min>
+            <max>0.026578 0.009233 0.006221</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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/b5477f9e0f1b598d8a5246d70235a52e/hair_clip_030.usd b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/hair_clip_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0ec81bcd0c3c1a8fb30241eded81b744218169e5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/hair_clip_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce0281921934d9733601f0859b0864a0da31a0fe69df7d87ce493477f1bf78be
+size 5027310
diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.glb b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..84710925b93966a026f079785ad5384ab5f7c483
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e5a072ba35b30b631f777e56d2ca956b711fc5bed8b2e06299ec0d513a24bc
+size 13934108
diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.mtl b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4791612ef9d30cb5cce6f442bd9a5130dd5ccd67
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.mtl
@@ -0,0 +1,6 @@
+newmtl hair_clip_030_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/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.obj b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0df346071db5bd7bc079f49f3845093296511b53
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.obj
@@ -0,0 +1,115932 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hair_clip_030_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030_collision.obj b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dd4f8765ab7ddec4363246bc45c442af55b1913
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f362f6bc30d4d28126cb6bf4fb1ef32dccfdf067
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e58c8866b40a38b6ae98f82238bd90b041307ed1bf28acf0e0cda27a1631f99
+size 10416067
diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2314a2bccb7f8e599d7a8064c9ea868a7a8e4ad9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hair_clip_030_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 hair_clip_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f362f6bc30d4d28126cb6bf4fb1ef32dccfdf067
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e58c8866b40a38b6ae98f82238bd90b041307ed1bf28acf0e0cda27a1631f99
+size 10416067
diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/hair_clip_030.xml b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/hair_clip_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fb51ac73babf4fb5ff8d2dc1fc17ad76ff52a561
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/hair_clip_030.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hair_clip_030">
+  <asset>
+    <material name="material_0" texture="texture_0_hair_clip_030_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hair_clip_030_geometry_Looks_material_0" type="2d" file="mesh/hair_clip_030_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hair_clip_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hair_clip_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hair_clip_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hair_clip_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hair_clip_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/hair_clip_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hair_clip_030">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" 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/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030.obj b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5818b76707ae4311cad4db3a43c8525f0fc65049
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030.obj
@@ -0,0 +1,115932 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hair_clip_030_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision.obj b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62fd837ca02e5925ac5e2b1b3d1507a76cd474d6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision.obj
@@ -0,0 +1,3526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_0.obj b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4df8df5fcd16de238d9b1a2b4f90127c63a4c50
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_1.obj b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa7c118189b25429291e567a3ef955077fdbeee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_1.obj
@@ -0,0 +1,829 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_2.obj b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fec410c91b5901d32709baa73048dca6c607115
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_2.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_3.obj b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3264d0238aecb70ef01d33dfb0e01e43664fc5e5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_3.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_4.obj b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af51e197a0c975462adc455ef0b161250d095f44
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mjcf/mesh/hair_clip_030_collision_4.obj
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