diff --git a/.gitattributes b/.gitattributes
index 11e13efe531bdd5f42bf14982891eb184f702836..b643200278a9f9f6542be5cbe716dddf60005933 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2553,3 +2553,5 @@ dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/dental_
 dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/mesh/dental_floss_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/toothpaste_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/razor_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9cc987e3d62e97cc00492a7d03bc1e57123a0599
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl razor_037_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd razor_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bfa26b6acef9c3153d153d1ed03066fd8ff7206
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/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/882a63b95dc0510a82f27735eb241715/mesh/razor_037.glb b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ef6adb32e1f41f7cad7eeae0500ba07be75ceb87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12921288
diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037.mtl b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7fdc01418df216e71ef1df0714f5ed7ef36e6f31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037.mtl
@@ -0,0 +1,6 @@
+newmtl razor_037_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
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037.obj b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a45e5cdce6a70cfe4a9c85f76cf98a8c2c7e85
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037.obj
@@ -0,0 +1,109736 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037_collision.obj b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e287750cd1181dd56240d6471c839638d2d4829e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mesh/razor_037_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037.obj b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037.obj
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+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037.obj
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision.obj b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73c9db191f26ca17ec385491d066162ac930e277
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision.obj
@@ -0,0 +1,10383 @@
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_0.obj b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1086ea722fd1ce72e5163ed43c8abae828aa4e36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_1.obj b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e7c2d4a9df9f1eb36f80717c07168f2760765a9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_2.obj b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa14c80168841e7363d659642d6a4ddf16e5bcd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_3.obj b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d5b342f37d73a00da992a2eabe20b9b1dfcd0d9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/mesh/razor_037_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/razor_037.xml b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/razor_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..67eb10984e467bd9e4d223748f381bb08b21693a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/mjcf/razor_037.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="razor_037">
+  <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_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/razor_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/razor_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/razor_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/razor_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="razor_037">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/razor_037.urdf b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/razor_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6b402036231db5ea8b1898d42cbd028b6a81211a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/razor_037.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="razor_037">
+   <link name="razor_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/razor_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>882a63b95dc0510a82f27735eb241715</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>razor</category>
+         <name>electric razor</name>
+         <color>gray,black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray and black electric foil razor with charging base</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124409</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.018637 -0.026705 -0.067035</min>
+            <max>0.019346 0.026697 0.052965</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/882a63b95dc0510a82f27735eb241715/razor_037.usd b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/razor_037.usd
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diff --git a/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/video.mp4 b/dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/video.mp4
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