diff --git a/.gitattributes b/.gitattributes
index e6fbeb0c50963b324b8ea40eac6507e43951c35f..a29763f6d3c65381005eaf3ea411ddcea1e6ceb8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2509,7 +2509,5 @@ dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_03
 dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5a77ebcf31b852e6b1623e640d0e1870/mesh/toothbrush_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5a77ebcf31b852e6b1623e640d0e1870/toothbrush_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5984b8903fba5b58a3c6a62b8b0d1fb6/dental_floss_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5984b8903fba5b58a3c6a62b8b0d1fb6/mesh/dental_floss_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/nail_clipper_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f7c0550d7d21b8fddf95e2241ebd57719f1d875
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_019_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a77c4b62ff8916a0d46705693801c9387c80f6edd07b66c49cba2443500268a
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019.glb b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5e7613f3d185d965335ad865c427e476c85824b9acb8906a21cc46d547a2672
+size 13858192
diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019.mtl b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c6ef4afed4b7deeed958937060b1e2b1fa40a764
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019.mtl
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+newmtl nail_clipper_019_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22988feea73e2ddec5483e5a2b2dff22031eb2db
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019.obj
@@ -0,0 +1,114952 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_019_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019_collision.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7332f8e706773aa197bae575f952ca474a5fe937
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mesh/nail_clipper_019_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb9c06d3e5f8a817760b708c6745b3137054b8b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision.obj
@@ -0,0 +1,4813 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_0.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c220cc76ccfe450d0f649587a758e181431a543a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_0.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_1.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56ad5d4a58dddf8076b22ec838f6e6b93c59acbc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_1.obj
@@ -0,0 +1,1099 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_10.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afdfa7be7a6dc14ac8c83331b338b9ee5c3a1732
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_10.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_11.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6c1f5dee10f4ea8c8b12302acba194e43e7fbeb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_11.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_12.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cc00a12760fd4afc92af2aacc931bc5bd45603a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_12.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.02649149 0.00754371 -0.00321807
+v -0.02789357 0.00751456 -0.00321807
+v -0.03069772 0.00719242 -0.00183138
+v -0.02929650 0.00720845 -0.00183138
+v -0.02587433 0.00753351 -0.00321807
+v -0.03350273 0.00726094 -0.00552228
+v -0.03210065 0.00730976 -0.00321807
+v -0.03209123 0.00690963 -0.00177936
+v -0.03161703 0.00661663 -0.00104813
+v -0.03069772 0.00668223 -0.00100503
+v -0.02635368 0.00643151 -0.00046105
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+v -0.02587433 0.00717274 -0.00227033
+v -0.02587433 0.00731559 -0.00377443
+v -0.03450592 0.00682291 -0.00552228
+v -0.03350273 0.00722741 -0.00460525
+v -0.02587433 0.00701313 -0.00444325
+v -0.02785162 0.00619611 -0.00552229
+v -0.03353354 0.00694024 -0.00322054
+v -0.03308673 0.00673398 -0.00220742
+v -0.03242592 0.00584699 -0.00144298
+v -0.03172488 0.00584698 -0.00096539
+v -0.02955500 0.00576098 -0.00046105
+v -0.02919036 0.00588343 -0.00046105
+v -0.02789357 0.00631052 -0.00046105
+v -0.02605580 0.00642276 -0.00046105
+v -0.02587433 0.00641620 -0.00046105
+v -0.02587433 0.00697304 -0.00176202
+v -0.03459323 0.00616259 -0.00552229
+v -0.03446056 0.00677772 -0.00460526
+v -0.03435698 0.00666329 -0.00368477
+v -0.02587433 0.00586595 -0.00510514
+v -0.02670034 0.00561597 -0.00552229
+v -0.03313380 0.00584699 -0.00213657
+v -0.03051711 0.00009797 -0.00046107
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+v -0.03048629 0.00100464 -0.00046107
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+v -0.02587433 0.00009797 -0.00046107
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+v -0.02615595 0.00065336 -0.00552231
+v -0.02587433 0.00064461 -0.00523051
+v -0.02615766 0.00009799 -0.00552231
+v -0.02587433 0.00321374 -0.00521811
+v -0.02616023 0.00195213 -0.00552230
+v -0.02587433 0.00195213 -0.00522802
+v -0.02587433 0.00065336 -0.00523051
+f 1 2 3
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+
diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_13.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ded8f86e816e449ef982f038945caa7c5042199
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_13.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02621089 0.00009727 -0.00557857
+v -0.02621089 -0.00029623 -0.00557857
+v -0.02739282 -0.00064575 -0.00815743
+v -0.02739365 0.00009728 -0.00815743
+v -0.03301899 0.00009727 -0.00557857
+v -0.02621172 -0.00064576 -0.00557857
+v -0.02739530 -0.00454108 -0.00815745
+v -0.03256605 0.00009728 -0.00815743
+v -0.03304626 0.00009727 -0.00599260
+v -0.03465386 -0.00583977 -0.00599262
+v -0.03461666 -0.00583977 -0.00557859
+v -0.02621585 -0.00194444 -0.00557858
+v -0.02623238 -0.00324313 -0.00557858
+v -0.02628362 -0.00454109 -0.00557859
+v -0.02756639 -0.00583976 -0.00815745
+v -0.03429432 -0.00622101 -0.00815745
+v -0.03264374 0.00009728 -0.00797086
+v -0.03298262 0.00009728 -0.00713699
+v -0.03431002 -0.00496773 -0.00697241
+v -0.03445962 -0.00582967 -0.00741295
+v -0.03444392 -0.00675504 -0.00737963
+v -0.03452905 -0.00683865 -0.00599263
+v -0.03450839 -0.00681775 -0.00557860
+v -0.02654480 -0.00514719 -0.00557859
+v -0.02810859 -0.00676152 -0.00815745
+v -0.02673491 -0.00557384 -0.00557859
+v -0.03429432 -0.00652370 -0.00815745
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+v -0.03270160 0.00009728 -0.00783050
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+v -0.03352234 -0.00704836 -0.00815746
+v -0.03350250 -0.00724727 -0.00737964
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+v -0.02712420 -0.00591761 -0.00557859
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+v -0.03350250 -0.00724872 -0.00557860
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+v -0.02784411 -0.00616336 -0.00557859
+v -0.03307932 -0.00717233 -0.00557860
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+f 35 39 36
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+f 36 40 37
+
diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_2.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a551fd3e075f8885bb6af2e161f4acd1a049186
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_2.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00981665 0.00598282 -0.00876699
+v 0.00981665 0.00597463 -0.00999981
+v 0.00981665 0.00590436 -0.00738041
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+v 0.00981665 0.00585869 -0.00725359
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+v 0.02723485 0.00563033 -0.00934514
+v 0.02723485 0.00587275 -0.01058434
+v 0.00981665 0.00563034 -0.01123405
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+v 0.00981665 0.00551088 -0.00633535
+v 0.00997352 0.00550620 -0.00634668
+v 0.02723485 0.00550855 -0.00899655
+v 0.00981665 0.00558233 -0.01136867
+v 0.02723485 0.00546992 -0.01255119
+v 0.00981665 0.00539963 -0.00627937
+v 0.01137516 0.00542774 -0.00645721
+v 0.02343405 0.00521345 -0.00805918
+v 0.02723485 0.00485043 -0.00859269
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+v 0.01904156 0.00519940 -0.01223661
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+v 0.01277851 0.00532469 -0.00657058
+v 0.02723485 0.00454830 -0.00843540
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+v 0.00981665 0.00440425 -0.00592512
+v 0.02723485 0.00324963 -0.00832417
+v 0.02723485 0.00365246 -0.00835181
+v 0.00981665 0.00339367 -0.01201769
+v 0.02723485 0.00324965 -0.01309676
+v 0.00981665 0.00324962 -0.00587482
+v 0.02723485 0.00195095 -0.00831284
+v 0.00981665 0.00324964 -0.01202052
+v 0.02723485 -0.00324256 -0.01309962
+v 0.00981665 0.00195094 -0.00586632
+v 0.02723485 -0.00194390 -0.00831852
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+v 0.02723485 -0.00324258 -0.00833128
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+v 0.02723485 -0.00546752 -0.01255548
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+v 0.00997352 -0.00589379 -0.00738045
+v 0.00981665 -0.00591136 -0.00753420
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+
diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_3.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b216941579f6d2138b0b68959fbfc68f3ace3503
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_3.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.02929553 0.00741527 -0.01015388
+v -0.02789275 0.00740656 -0.01015388
+v -0.02648997 0.00696549 -0.01145870
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+v -0.02929553 0.00696259 -0.01143463
+v -0.03069832 0.00737029 -0.01015388
+v -0.03271675 0.00728903 -0.00815804
+v -0.02368783 0.00732821 -0.01015388
+v -0.02088226 0.00690601 -0.01140473
+v -0.02228505 0.00692487 -0.01142298
+v -0.02368783 0.00694083 -0.01143734
+v -0.02508890 0.00695389 -0.01144938
+v -0.02508890 0.00584686 -0.01210005
+v -0.02648997 0.00584686 -0.01211441
+v -0.02789275 0.00584686 -0.01212024
+v -0.02929553 0.00584686 -0.01208957
+v -0.03069832 0.00688860 -0.01132127
+v -0.03222972 0.00698581 -0.01028394
+v -0.03352103 0.00705689 -0.00815804
+v -0.02811226 0.00676671 -0.00815805
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_4.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6992a84a14975804097d4a0c1ca0c5c6bd4f1264
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_5.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..198c29ca8a1de88f5668d6bde53ef5baeb20ce14
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_6.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f7dd7e854085268617a481624d15a0929132dfe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_6.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_7.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ee5e51a2e3634e3603acd34c76010d970751c1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_7.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_8.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f63ade2abeb5fff97499136cc16a18d259e4f14
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_8.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_9.obj b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2332028b4c7cef64c0c126f06ad4f7ff6642b418
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/mesh/nail_clipper_019_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/nail_clipper_019.xml b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/nail_clipper_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2973b4152118852eaca24098d75541a9a3394405
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/mjcf/nail_clipper_019.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" 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/56a7aba8e7b65fd3a13f307f41a7f483/nail_clipper_019.urdf b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/nail_clipper_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..200ef842bc44523f89504582503f3eb8f71eee84
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/nail_clipper_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_019">
+   <link name="nail_clipper_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_019.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/nail_clipper_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>56a7aba8e7b65fd3a13f307f41a7f483</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>metal nail clipper</name>
+         <color>silver,brown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact metallic nail clipper with lever arm and curved cutting jaws</description>
+         <min_height>0.0503</min_height>
+         <max_height>0.0503</max_height>
+         <real_height>0.0503</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154904</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034398 -0.007496 -0.013623</min>
+            <max>0.050224 0.007504 0.036697</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/56a7aba8e7b65fd3a13f307f41a7f483/nail_clipper_019.usd b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/nail_clipper_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/nail_clipper_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc5735d0653b8ba4a8c2ca575eb5048d10537378c187a2d21beadeb2877910c8
+size 4899018
diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/textures/material_0.png b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10554270
diff --git a/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/video.mp4 b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d836d3b5a81a3bdb1d12a2b1a44bddfee22119fd44a42d4bf5405aab68af5d5
+size 227172