diff --git a/.gitattributes b/.gitattributes
index 26b2e560fdca8064532430faa40d9748b22d4168..d3f2ac64d36fd3b5a1f2bdba417fbfc23a84d0d6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2617,3 +2617,5 @@ dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/mesh/to
 dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/toothpaste_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/mesh/razor_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/razor_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/razor_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23d6fa656a26195949245a4b40a63f0c18ea7325
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl razor_017_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_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7dc40b7c6afb72d891c132369d00d11260d3502
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9906b5048aaee6891568054d6928acf4e1747917ab7694d900a28828c802f17
+size 9722155
diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.glb b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..84fcc092b6c7f79b9718c61a117b579e268cc6f4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64abd1961e3c2e94b88518a99e1f887b9efbe15ca48edfc6061ac1eec853154f
+size 13108588
diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.mtl b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..402013999aa299e9e7e881802e193ff9008f9bed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.mtl
@@ -0,0 +1,6 @@
+newmtl razor_017_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/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.obj b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d0abe81f5ea80addd3500b61ef497e654d350b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.obj
@@ -0,0 +1,110582 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl razor_017_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017_collision.obj b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6736f028099bde99070d1aeae4e0d96715a7039
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017_collision.obj
@@ -0,0 +1,8095 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/material_0.png
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+oid sha256:c9906b5048aaee6891568054d6928acf4e1747917ab7694d900a28828c802f17
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017.obj b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017.obj
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index 0000000000000000000000000000000000000000..221abfa731e582a88c3a284a214b65d2ee4c1da4
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+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017.obj
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision.obj b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fae06220a7b16817ab59165dd3b0890d762538fb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision.obj
@@ -0,0 +1,8095 @@
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_0.obj b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bee3ab8b83f5f782f7342d2a5cfd362f7c1791e2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_0.obj
@@ -0,0 +1,3397 @@
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_1.obj b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2f7bbb2c11822e0d680a7af3eb8740869bf576
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_2.obj b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98aa797dabbc43c165ccafb535eb12d85bbf2cd9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_2.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_3.obj b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba9bd06fb60fcb6d0a77de4a0df6559b4516a75e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_3.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_4.obj b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07071e9fc6914c528bbcaf0b8c7963f5f1fdb78a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/mesh/razor_017_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/razor_017.xml b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/razor_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bb90e4cb3ee4d5d9fe68492c3636fd5ced354978
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/mjcf/razor_017.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="razor_017">
+  <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_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/razor_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/razor_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/razor_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/razor_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/razor_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="razor_017">
+      <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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/razor_017.urdf b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/razor_017.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/razor_017.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="razor_017">
+   <link name="razor_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/razor_017.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_017_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>cfcfb90c41d959fba0e01190fead875c</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 cylindrical handle and rounded foil shaving head</description>
+         <min_height>0.0511</min_height>
+         <max_height>0.0511</max_height>
+         <real_height>0.0511</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518155147</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.079745 -0.030150 -0.024362</min>
+            <max>0.081029 0.029850 0.026702</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/cfcfb90c41d959fba0e01190fead875c/razor_017.usd b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/razor_017.usd
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+size 4937850
diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/textures/material_0.png b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/video.mp4 b/dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/video.mp4
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