diff --git a/.gitattributes b/.gitattributes
index 9f82868788546d03f59ffe7aebfc775d16974659..d531d6c335d0dd24b7bfab43e42f2df10d623d99 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2481,5 +2481,5 @@ dataset/bathroom_supplies/personal_care/20c64eca019153bb99d8a6401011359d/hair_cl
 dataset/bathroom_supplies/personal_care/20c64eca019153bb99d8a6401011359d/mesh/hair_clip_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/29ed4517b1c45984b611ca7956c8652f/mesh/razor_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/29ed4517b1c45984b611ca7956c8652f/razor_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/1f63bf9858285b398d0c5a31aa622730/mesh/nail_clipper_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/1f63bf9858285b398d0c5a31aa622730/nail_clipper_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/razor_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..50c465dc650e172376dac2c71a6101e8cda6fa9f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl razor_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2b824352f4570efb9a66e92668572b76fe63477
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50bbaa851b0c0ea91ce4385245b67c7c80dad8c2ce201fdacc8e533802f74570
+size 10468885
diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025.glb b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..75b497b379030b7ffaed51132d9e5298c97585dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42df0e6dd693aca24e9d0f9e78863f3be3277298ae557419ccfe89f263e6e1d8
+size 13789060
diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025.mtl b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a84aa0abab9e41b878a6c667c7c938c0a7588f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025.mtl
@@ -0,0 +1,6 @@
+newmtl razor_025_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/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025.obj b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f747170c3ee6706b13edb5fb19d01422b7120f91
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025.obj
@@ -0,0 +1,113566 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl razor_025_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025_collision.obj b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecad4cad61bd5965d3f9e72fe1284a22332d5ba1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025_collision.obj
@@ -0,0 +1,6001 @@
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diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2b824352f4570efb9a66e92668572b76fe63477
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mesh/razor_025_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10468885
diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2b824352f4570efb9a66e92668572b76fe63477
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:50bbaa851b0c0ea91ce4385245b67c7c80dad8c2ce201fdacc8e533802f74570
+size 10468885
diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025.obj b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025.obj
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index 0000000000000000000000000000000000000000..a6f5f989deed6d880e10e47f45829355edc9fdd7
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision.obj b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04df531165ee88d4917078a422a52e515efae8b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision.obj
@@ -0,0 +1,6001 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_0.obj b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758777413cab8ab3350ebb5f25d9185016154c2b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_1.obj b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8498ca563b81e8c446d767a06196ac5f4b50c16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_2.obj b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..224f4c6cc8b7c1982548939ca61dca527265779f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_2.obj
@@ -0,0 +1,1387 @@
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diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_3.obj b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a5c93ec09acd9155f2e29d285ca14271bc94878
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_3.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_4.obj b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f091d65ca568604b475d952f129bf5523764dfef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/mesh/razor_025_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/razor_025.xml b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/razor_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f58a520746f657a3bb3078d9d48fb5ec495b981f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/mjcf/razor_025.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="razor_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/razor_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/razor_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/razor_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/razor_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/razor_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="razor_025">
+      <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>
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diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/razor_025.urdf b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/razor_025.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/razor_025.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="razor_025">
+   <link name="razor_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/razor_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>27d48156b5d55ae59c9a4818bda6cdfd</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>razor</category>
+         <name>electric rotary razor</name>
+         <color>black,gray</color>
+         <shape>T-shape</shape>
+         <material>plastic</material>
+         <description>dark handheld electric rotary razor with cylindrical handle and three-head shaver</description>
+         <min_height>0.0582</min_height>
+         <max_height>0.0582</max_height>
+         <real_height>0.0582</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124045</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.077850 -0.032518 -0.034674</min>
+            <max>0.082150 0.032532 0.023555</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/27d48156b5d55ae59c9a4818bda6cdfd/razor_025.usd b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/razor_025.usd
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+++ b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/razor_025.usd
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+size 4896376
diff --git a/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/textures/material_0.png b/dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/textures/material_0.png
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