diff --git a/.gitattributes b/.gitattributes
index b643200278a9f9f6542be5cbe716dddf60005933..fcdbd3bb3f82ebc82b61d9d926ca9a336e7a02a1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2553,5 +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
+dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/comb_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/comb_040.urdf b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/comb_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..916fedb88975d3931a0e169d876d7543cf69c93d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/comb_040.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="comb_040">
+   <link name="comb_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/comb_040.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/comb_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>8a3294f405e855b9bd27e7ed4c143b1b</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>comb</category>
+         <name>pink cartoon comb</name>
+         <color>pink,black</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>pink plastic comb with cartoon character decoration and curved handle</description>
+         <min_height>0.0224</min_height>
+         <max_height>0.0224</max_height>
+         <real_height>0.0224</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611120553</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.058871 -0.031778 -0.007531</min>
+            <max>0.061129 0.033482 0.014914</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/8a3294f405e855b9bd27e7ed4c143b1b/comb_040.usd b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/comb_040.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5e73efd7214b4388ad2e881268a8368527d46c30
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/comb_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22206cad3700e7df9622ffa406b9ecdc5f3187b8a1e145b0814022c0957d574b
+size 4783164
diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.glb b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..63ad2a89273200cb2eefbfaf19fd91613fe49408
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a5a2ac616decbbb87a1cfad4115cba4b47a97f36758ffe1709afab051bc780d
+size 14046632
diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.mtl b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fee83ad95ca2928f53a1edf8551204229022ef9d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.mtl
@@ -0,0 +1,6 @@
+newmtl comb_040_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/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460b00e33a15237f542f4e85ba20a376689ff35e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.obj
@@ -0,0 +1,112552 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_040_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040_collision.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fed319b9c49d22e84c7e7543968390a9adcc0c6f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040_collision.obj
@@ -0,0 +1,4938 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..05e1ab0da604bf70a2219635f80242f1341757e9
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+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl comb_040_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dbdcaa5da1e56d34c1bc0a90df29ebb6d51309f0401b4ad8192284c4584d28e2
+size 10856823
diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/comb_040.xml b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/comb_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cab863d1d492dd5dddd93f31c1cec72372d05eb6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/comb_040.xml
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+    <mesh name="collision_mesh_0_2" file="mesh/comb_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/comb_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/comb_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/comb_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/comb_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="comb_040">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e65d86260e39daa910e24f8f26c8695934cc87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040.obj
@@ -0,0 +1,112552 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_040_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72a0b9af23f514a9c661a0601f01629f52b83645
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision.obj
@@ -0,0 +1,4938 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_0.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..971108d511dbb716efc1953f45fc3c7d170aa5b2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_1.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc7ec1b47e288b21cf313cc070ae7c9a1ae3732
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_2.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5f2ad7120525db5120c4d573ee9992f112efe7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_3.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e957defc1e8e314378b70546287731fbf439b554
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_3.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_4.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf339df65e7f405f1ca1fae632e49048dede2a88
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_4.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_5.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f0706c7e6badae6ea849b31deb88b60ad464344
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_5.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_6.obj b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6934454d63fdaf5840993633771cc4b01b50618
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mjcf/mesh/comb_040_collision_6.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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