diff --git a/.gitattributes b/.gitattributes
index 26c872fc2dc271b8a0812c0ed8136594296cde20..c53c6e05f827285a215f39a76690e4a724e97479 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2501,5 +2501,5 @@ dataset/bathroom_supplies/personal_care/42ea8766722155019b180da3007e6904/mesh/to
 dataset/bathroom_supplies/personal_care/42ea8766722155019b180da3007e6904/toothbrush_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/47c670995f935657a879fde452a35586/mesh/toothpaste_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/47c670995f935657a879fde452a35586/toothpaste_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/49f8089a0d9e52899b66aaecaf4d995f/hair_clip_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/49f8089a0d9e52899b66aaecaf4d995f/mesh/hair_clip_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/razor_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3978f7a80dc1414b2ffb34c519492a630fd37fbc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl razor_014_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd razor_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce2f49b79cd26e83646a018b45423a887f5c81ce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b95d56373e951046f96e61e8109356a0b9e6bd5e58bf10168ced252d5eaf7411
+size 11094921
diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014.glb b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6122d6017140795a2cc810d16b3e0ab1d2341f86
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b7e115a01a7a34f3fa59d49ec0a5ed023cc38ee517a61961c3044ae5be03b15
+size 14226076
diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014.mtl b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..280381a757c2c21ecad4452484b6e95abdc3dc31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014.mtl
@@ -0,0 +1,6 @@
+newmtl razor_014_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/4c46025624855d71804c9859ba3e372b/mesh/razor_014.obj b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..251c78f536d4095a08b48aeb95921d17221fead9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014.obj
@@ -0,0 +1,113280 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014_collision.obj b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b2bbd8ec74b5b9a6f422ee9a0409465db2d18f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mesh/razor_014_collision.obj
@@ -0,0 +1,5270 @@
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diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014.obj b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014.obj
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diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision.obj b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b48127b50eaffc3722f6994a148d825fcc01d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision.obj
@@ -0,0 +1,5270 @@
+# https://github.com/mikedh/trimesh
+
+o razor_014_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_0.obj b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae440ef1f49766d646f20b0f6bd497aec3f3e4d8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_1.obj b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad61b0fdad37a4ba960d9c5888ba7b845a593d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_1.obj
@@ -0,0 +1,1381 @@
+# https://github.com/mikedh/trimesh
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+v -0.04163789 -0.00094202 0.00648909
+v -0.04145130 -0.00294595 0.00635990
+v -0.04162057 -0.00284704 0.00837892
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diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_2.obj b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1306bc44ba03c357fbec166f6ebd5f5335dc0699
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_2.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_3.obj b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbc77dfd8f2892d0d512c4d5b9b4bcc620ba06c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_3.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_4.obj b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96dfff8f8521856a27993638f7a268b9c1724806
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_4.obj
@@ -0,0 +1,1405 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_5.obj b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf54f08797ac9c205c7c5d5d6749e529f5b40e7c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/mesh/razor_014_collision_5.obj
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+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/razor_014.xml b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/razor_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa5facd1f951394f712eab4d1ec4e5272596f3d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/mjcf/razor_014.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="razor_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/razor_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/razor_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/razor_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/razor_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/razor_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/razor_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="razor_014">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/razor_014.urdf b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/razor_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a7642494919c737cc18130324a954ee971d75562
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/razor_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="razor_014">
+   <link name="razor_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/razor_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>4c46025624855d71804c9859ba3e372b</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>razor</category>
+         <name>cartridge razor</name>
+         <color>gray,black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray and black manual razor with long tapered handle</description>
+         <min_height>0.0388</min_height>
+         <max_height>0.0388</max_height>
+         <real_height>0.0388</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518155041</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.045691 -0.024992 -0.023464</min>
+            <max>0.072807 0.025008 0.015288</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/razor_014.usd b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/razor_014.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/razor_014.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a275ec0279e3210c8eff2dd6db95f9ba3dad4d35b201f1cff5ca822421764adb
+size 4496995
diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/textures/material_0.png b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/textures/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 11094921
diff --git a/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/video.mp4 b/dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/video.mp4
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 193222