diff --git a/.gitattributes b/.gitattributes
index fec5dc1c4c0eb5df383addf5d5b1ff6241864e63..880d6b9cfddcd16f98bb9d59a94299dac091be2c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2587,5 +2587,5 @@ dataset/bathroom_supplies/personal_care/a46de6c5f0a25b30b04e9bf0e417a78d/mesh/ra
 dataset/bathroom_supplies/personal_care/a46de6c5f0a25b30b04e9bf0e417a78d/razor_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/mesh/toothbrush_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/toothbrush_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mouthwash_cup_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/razor_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..41cfb689ce600f0401a682672ee4d4be7545644b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl razor_020_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
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d529c789ebf835fce4e71a92c02a05b26871fd3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/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/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020.glb b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f4c29eba14c97f3aa48cfd622d7b02ae277bf663
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5eec4304881066bbddf37d11b124ae468c8a6d25044261b0d5141b1b239742
+size 14281552
diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020.mtl b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d5e2b153959bf99324b85b3aa0eadb48275b20e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020.mtl
@@ -0,0 +1,6 @@
+newmtl razor_020_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/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020.obj b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3f79a4467dafb1a62b071988a561064b619899
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020.obj
@@ -0,0 +1,113412 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl razor_020_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020_collision.obj b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..492b897ea52e8c0163e00d4f806d35b765d73266
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020_collision.obj
@@ -0,0 +1,9484 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d529c789ebf835fce4e71a92c02a05b26871fd3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mesh/razor_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd65e2d7d4b316ed8c9b112182fd5e7728195063357cdbbd803a8554737d4396
+size 10829772
diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d529c789ebf835fce4e71a92c02a05b26871fd3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd65e2d7d4b316ed8c9b112182fd5e7728195063357cdbbd803a8554737d4396
+size 10829772
diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020.obj b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c801e67631f20c7f3de708ed4b1ef523d1dd512
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision.obj b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e08b432b1808a56a7f92a322ba1ca8985e3b9e6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision.obj
@@ -0,0 +1,9484 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_0.obj b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd4639b07e1a9c83a012e8d1d008668f5a4e6d46
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_1.obj b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f410a051ec752aadfdf86a27cb40ccab77bb1c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_2.obj b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6d20b41e61f7812806f218111e4fae1abb5863c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_3.obj b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..538c69181219552298aaea2bfd6d59a475ea82e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_4.obj b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbd5922c54f43091642e4a3973d3927cb611290
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/mesh/razor_020_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/razor_020.xml b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/razor_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5db2725ba9c1d9d5539fe79809ecf8d78afe51e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/mjcf/razor_020.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="razor_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/razor_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/razor_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/razor_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/razor_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/razor_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="razor_020">
+      <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/ab2fb5186bc655b9a02568b4213fbd6e/razor_020.urdf b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/razor_020.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/razor_020.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="razor_020">
+   <link name="razor_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/razor_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>ab2fb5186bc655b9a02568b4213fbd6e</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>razor</category>
+         <name>electric razor</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact gray electric razor with rounded handle and foil shaving head</description>
+         <min_height>0.0789</min_height>
+         <max_height>0.0789</max_height>
+         <real_height>0.0789</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518163535</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.082943 -0.029999 -0.038983</min>
+            <max>0.108969 0.030001 0.039869</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>15</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
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