diff --git a/.gitattributes b/.gitattributes
index 2dcbcb47ef39c1cef0e83ea03a1cdaf8ec288ad8..d5f8293b3864179fe58cccd8c7bd86acc8706f75 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2487,3 +2487,5 @@ dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/comb_01
 dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/mesh/razor_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/razor_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/razor_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..10e1d70690a3da6cfc6b1778d5dbbd2ecb917ba8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl razor_023_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.glb b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..73c5a9b4d95d801a1d3bc29bef6266800b0f5e58
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12487288
diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.mtl b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ca0a9df023f009d6101d141125d4c250f8fd63cc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.mtl
@@ -0,0 +1,6 @@
+newmtl razor_023_geometry_Looks_material_0
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+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/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.obj b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59f1162cfb2faa10729ad5dbc9b62bd27d2ac3de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.obj
@@ -0,0 +1,113584 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl razor_023_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023_collision.obj b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20fbc26581fa42658326da44080a9741b2490a13
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision.obj b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7cf421c6693c2a7db33e2209b6305c9c0e4dab8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision.obj
@@ -0,0 +1,8684 @@
+# https://github.com/mikedh/trimesh
+
+o razor_023_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision_0.obj b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e61b569dd00930fbdf3c09a19a8306ea6b056a49
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision_0.obj
@@ -0,0 +1,5281 @@
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diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision_1.obj b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f5fc337e1a2873c29674f296977997db51e8b74
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision_2.obj b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/mesh/razor_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef17a2042fa68cf7fcb708dfb629f242227b1e59
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/razor_023.xml b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/razor_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..53bc70124de89f985350b0813fb8d44193190234
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mjcf/razor_023.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="razor_023">
+  <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/razor_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/razor_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/razor_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/razor_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="razor_023">
+      <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>
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diff --git a/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/razor_023.urdf b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/razor_023.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/razor_023.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="razor_023">
+   <link name="razor_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/razor_023.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/razor_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>2e9a4b8b18d05cd3aaaa97fffa81109f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>razor</category>
+         <name>electric shaver</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>black and silver electric rotary razor with ergonomic curved handle</description>
+         <min_height>0.0675</min_height>
+         <max_height>0.0675</max_height>
+         <real_height>0.0675</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124012</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.065628 -0.030378 -0.040048</min>
+            <max>0.094372 0.030368 0.027500</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
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+            <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/2e9a4b8b18d05cd3aaaa97fffa81109f/razor_023.usd b/dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/razor_023.usd
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