diff --git a/.gitattributes b/.gitattributes
index 8bb7db8afb02f2d956035b4faaac5bf6a79e6c93..04978b406ac96d30759644ef465de710ba7fd83c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2571,3 +2571,5 @@ dataset/bathroom_supplies/personal_care/9be690da3f3958b1b50777d799671b04/mesh/ra
 dataset/bathroom_supplies/personal_care/9be690da3f3958b1b50777d799671b04/razor_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9aaf4e1f8c6f55b9b66fdec02674e91e/mesh/razor_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9aaf4e1f8c6f55b9b66fdec02674e91e/razor_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/razor_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a00127eb33c7f40fdef31bfd767b267b1f56fe61
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl razor_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4de48dd278ee5bd3021acc2243faa9d1ee627f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/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/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029.glb b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..33d16643565fcfb70c736fc6dd6312526f3261f6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63935d35a8ec7d8c865d52fab2ef8379a4155853630b656b0f17e941feb70f59
+size 13779560
diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029.mtl b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..43737e6149e1d2e38929274a1752fc0ff20ce629
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029.mtl
@@ -0,0 +1,6 @@
+newmtl razor_029_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/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029.obj b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48b875e2ad63d8aea9ea31389f9a91018281943d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029.obj
@@ -0,0 +1,110368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl razor_029_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029_collision.obj b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..138bd35a0e6daa35124fcd540c3b8123aeaede3f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mesh/razor_029_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10365223
diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10365223
diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029.obj b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029.obj
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+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl razor_029_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision.obj b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b19bf2ccde2414ed589e64628ce68e99061c9c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision.obj
@@ -0,0 +1,9449 @@
+# https://github.com/mikedh/trimesh
+
+o razor_029_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision_0.obj b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9086842ace4ae3d150787373ea763ded1e14689
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision_1.obj b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..394fb5ad8ee62ac2d098efcf836edf55926ad738
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision_2.obj b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..974aecee4e623d5a7d0a90fb65624b8545209dcf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/mesh/razor_029_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/razor_029.xml b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/razor_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a1c5a7e39426144b792d7470e09d59a7e17c555d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/mjcf/razor_029.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <body name="razor_029">
+      <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/9c75f39997b75a2cb275ded7d91dd796/razor_029.urdf b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/razor_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..476d4f380c770a605bdf1e9f6696f9327267e7b7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/razor_029.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="razor_029">
+   <link name="razor_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/razor_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>9c75f39997b75a2cb275ded7d91dd796</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>razor</category>
+         <name>electric shaver</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>black handheld electric rotary razor with three circular shaving heads</description>
+         <min_height>0.0718</min_height>
+         <max_height>0.0718</max_height>
+         <real_height>0.0718</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124155</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.063078 -0.033844 -0.039469</min>
+            <max>0.096922 0.033854 0.032331</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/9c75f39997b75a2cb275ded7d91dd796/razor_029.usd b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/razor_029.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8a04473309d0846c89c890bc721c96318d2c41ea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/razor_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a05a244c0638cfcf54a2606882868b04eabf32199f915ade755025d044d4847
+size 4954895
diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/textures/material_0.png b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4de48dd278ee5bd3021acc2243faa9d1ee627f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43d7ed4d034fad9f217758fd68f762906db18559476271ce48130a4ec0317b5f
+size 10365223
diff --git a/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/video.mp4 b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65ba657d02dbc30c624f3e68a8ed78d1cef723be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9ccbd68f7bb55b3fbe423f203755bcdbb9e0a55ad5cf6fc5f3e8deaaf7f551
+size 227204