diff --git a/.gitattributes b/.gitattributes
index a84e620ecac67cfc28c0267bd0ea55f37134433a..6b7a5322b7fee82af206e901ff6dc12f888cde7d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2483,11 +2483,5 @@ dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/mjcf/me
 dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/toothbrush_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2b4d729feb3d5270ba71eb046a27772a/hair_clip_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2b4d729feb3d5270ba71eb046a27772a/mesh/hair_clip_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/comb_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/mesh/razor_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/razor_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/mesh/razor_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/razor_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/30caa16d6dd759ddb11b6c6bd3351caa/hair_clip_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/30caa16d6dd759ddb11b6c6bd3351caa/mesh/hair_clip_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/nail_clipper_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef4bb8fb9a1052a774d6414b6311cfe0e817d7ce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_034_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7a1f1d02cca9986eef50bf2e4fc03ffa121e495
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf2d3731efdd69fcc7547db7509323a2e5703a5b7c09d313de6bc40b5870e783
+size 9305950
diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034.glb b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d7d7209dc87e42b954de6bb13c1e21f9be98f2f8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0b42a1af65ffa4af13036d69bcb149bb0665a2ea9e7d6ecfd9ace2e562df6d4
+size 12364584
diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034.mtl b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92ba380b093a7cc3a875693a123565d540d399e5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034.mtl
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+newmtl nail_clipper_034_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/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b2351c532bbce823cdd392eeb2d04d593ede5d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034.obj
@@ -0,0 +1,113478 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_034_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034_collision.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160b39ea0449751c70459874945a39988b6020e0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mesh/nail_clipper_034_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:cf2d3731efdd69fcc7547db7509323a2e5703a5b7c09d313de6bc40b5870e783
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034.obj
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index 0000000000000000000000000000000000000000..668319866ab367d2dbea6e8d8331c4b0d4bc7335
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41db57b89cd3be803ece86c082da41ec0746bb50
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision.obj
@@ -0,0 +1,6759 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_0.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59b3a215ceea3a4cbc9a1078f9d16e07f29d76d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_1.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65347009c717a7df08036c2691b24631e76952f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_1.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_10.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6af623c4dcde1ba0a234b6f8b03599f8e39ca39b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_10.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_11.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a004b54f6ca5d0e700f755cca983bca069a7e1b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_11.obj
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_12.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8b411e151ed4779d9b05f1d1e8bbd1fc98f47a6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_12.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01159732 0.00449618 -0.00443059
+v -0.01242506 0.00448348 -0.00443059
+v -0.01656281 0.00425324 -0.00272736
+v -0.01159732 0.00431496 -0.00272736
+v -0.01076959 0.00431321 -0.00272736
+v -0.01108643 0.00448917 -0.00443059
+v -0.01656281 0.00441914 -0.00443059
+v -0.01739055 0.00436049 -0.00443059
+v -0.01739055 0.00411361 -0.00272736
+v -0.01000934 0.00418583 -0.00272736
+v -0.01076959 0.00447385 -0.00443059
+v -0.01807299 0.00417578 -0.00443059
+v -0.01781520 0.00394641 -0.00272737
+v -0.00994841 0.00425806 -0.00443059
+v -0.01019870 0.00433335 -0.00443059
+v -0.00960344 0.00354416 -0.00272737
+v -0.00925753 0.00360676 -0.00443060
+v -0.01880324 0.00379497 -0.00443060
+v -0.01880324 0.00358662 -0.00399412
+v -0.01793425 0.00382385 -0.00272737
+v -0.00952751 0.00274666 -0.00272737
+v -0.00922847 0.00348464 -0.00443060
+v -0.01880324 0.00002460 -0.00443061
+v -0.01880324 0.00289154 -0.00272737
+v -0.01831578 0.00341766 -0.00272737
+v -0.00923879 0.00285129 -0.00443060
+v -0.00922847 0.00324084 -0.00443060
+v -0.01109674 0.00002459 -0.00272738
+v -0.01080802 0.00002460 -0.00443061
+v -0.01880324 0.00002459 -0.00272738
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 15
+f 1 15 14
+f 1 14 17
+f 1 17 22
+f 1 22 27
+f 1 27 26
+f 1 26 29
+f 1 29 23
+f 1 23 18
+f 1 18 12
+f 1 12 8
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+f 1 7 2
+f 2 7 3
+f 3 7 8
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+f 3 9 13
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+f 5 11 6
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 10 16 17
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+f 21 29 26
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+f 23 28 30
+
diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_13.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e816bfec8095045b66090ecd670db707a5252d5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_13.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00686530 0.00513460 -0.00353952
+v 0.00769332 0.00512962 -0.00353952
+v 0.00992898 0.00506887 -0.00410080
+v 0.00992145 0.00506887 -0.00410080
+v 0.00909451 0.00499964 -0.00457529
+v 0.00526087 0.00512115 -0.00353952
+v 0.00852027 0.00510123 -0.00353952
+v 0.00992898 0.00499964 -0.00457529
+v 0.00934829 0.00505840 -0.00353952
+v 0.00992898 0.00500511 -0.00353952
+v 0.00826649 0.00498321 -0.00457529
+v 0.00444575 0.00510522 -0.00353952
+v 0.00992898 0.00004675 -0.00457531
+v 0.00992898 0.00004674 -0.00353954
+v 0.00081966 0.00466148 -0.00457529
+v 0.00280154 0.00505292 -0.00353952
+v 0.00362418 0.00508280 -0.00353952
+v 0.00640505 0.00004675 -0.00457531
+v 0.00136272 0.00004674 -0.00353954
+v -0.00000944 0.00458728 -0.00457529
+v 0.00198427 0.00499615 -0.00353952
+v 0.00247356 0.00503350 -0.00353952
+v 0.00247356 0.00004674 -0.00391508
+v -0.00092456 0.00351104 -0.00457530
+v 0.00003896 0.00357776 -0.00353953
+v -0.00099016 0.00354291 -0.00457530
+v 0.00195631 0.00004674 -0.00376371
+v -0.00001374 0.00458628 -0.00457529
+v 0.00089816 0.00485272 -0.00353952
+v 0.00218321 0.00004674 -0.00383032
+v 0.00003896 0.00358424 -0.00353953
+v -0.00105683 0.00433179 -0.00457529
+v 0.00004648 0.00428347 -0.00353952
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 17
+f 1 17 16
+f 1 16 22
+f 1 22 21
+f 1 21 29
+f 1 29 33
+f 1 33 31
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+f 1 7 2
+f 2 7 3
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+f 23 26 24
+f 25 31 32
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+f 26 30 27
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+f 29 32 33
+f 31 33 32
+
diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_14.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29cfa553fcb1d53f0717a7c511cdf998d1949c4f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_14.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00992898 0.00004674 -0.00353954
+v 0.00992898 -0.00500324 -0.00353956
+v 0.00992898 0.00004675 -0.00457531
+v 0.00136316 0.00004674 -0.00353954
+v 0.00992898 -0.00506639 -0.00410084
+v 0.00992145 -0.00500375 -0.00353956
+v 0.00992898 -0.00499767 -0.00457533
+v 0.00640453 0.00004675 -0.00457531
+v 0.00195594 0.00004674 -0.00376371
+v -0.00104672 -0.00354306 -0.00457532
+v 0.00002912 -0.00356277 -0.00353955
+v 0.00909413 -0.00505528 -0.00353956
+v 0.00826681 -0.00509166 -0.00353956
+v 0.00661110 -0.00511339 -0.00353956
+v 0.00578378 -0.00511490 -0.00353956
+v 0.00992145 -0.00506639 -0.00410084
+v 0.00943732 -0.00499919 -0.00457533
+v 0.00247342 0.00004674 -0.00391508
+v -0.00106178 -0.00371434 -0.00457532
+v 0.00002696 -0.00357338 -0.00353955
+v 0.00495538 -0.00510985 -0.00353956
+v 0.00909413 -0.00506336 -0.00410084
+v 0.00909413 -0.00499818 -0.00457533
+v -0.00095958 -0.00433074 -0.00457533
+v 0.00004203 -0.00429185 -0.00353956
+v 0.00860893 -0.00498959 -0.00457533
+v 0.00412914 -0.00509014 -0.00353956
+v 0.00000437 -0.00458084 -0.00457533
+v 0.00108882 -0.00483954 -0.00353956
+v 0.00074132 -0.00465866 -0.00353956
+v 0.00826681 -0.00498049 -0.00457533
+v 0.00330182 -0.00506690 -0.00353956
+v 0.00084890 -0.00466168 -0.00457533
+v 0.00247342 -0.00503255 -0.00353956
+v 0.00164610 -0.00493857 -0.00353956
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+f 21 26 23
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+f 26 27 31
+f 27 32 31
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 31 32 34
+f 31 34 33
+
diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_15.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85c72ff029c70cc6826b90d32bd87eed56d0e308
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_15.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01080779 0.00002460 -0.00443061
+v -0.01109652 0.00002459 -0.00272738
+v -0.00952162 -0.00275911 -0.00272739
+v -0.00926382 -0.00270776 -0.00443062
+v -0.01880417 0.00002460 -0.00443061
+v -0.01880417 0.00002459 -0.00272738
+v -0.00952443 -0.00289940 -0.00272739
+v -0.00922820 -0.00348180 -0.00443062
+v -0.00923570 -0.00284230 -0.00443062
+v -0.01880417 -0.00378628 -0.00443062
+v -0.01880417 -0.00302464 -0.00272739
+v -0.00960974 -0.00354686 -0.00272739
+v -0.00962942 -0.00360085 -0.00272739
+v -0.00990691 -0.00403545 -0.00272739
+v -0.01001190 -0.00418680 -0.00272740
+v -0.00995565 -0.00425893 -0.00443063
+v -0.01806828 -0.00417396 -0.00443063
+v -0.01781798 -0.00395092 -0.00272739
+v -0.01880417 -0.00362741 -0.00380925
+v -0.01880417 -0.00304190 -0.00275574
+v -0.01878261 -0.00304854 -0.00272739
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+v -0.01076935 -0.00447357 -0.00443063
+v -0.01784611 -0.00425140 -0.00443063
+v -0.01739051 -0.00411599 -0.00272740
+v -0.01752269 -0.00406510 -0.00272739
+v -0.01076935 -0.00431381 -0.00272740
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+v -0.01702397 -0.00439878 -0.00443063
+v -0.01656275 -0.00442002 -0.00443063
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+f 28 32 29
+f 28 33 32
+f 30 34 33
+f 30 33 31
+f 32 33 35
+f 33 34 35
+
diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_16.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11e5e03c82c26c73ded567e34a6df43e1ea74f59
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_16.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.02814750 -0.00000231 -0.00572020
+v 0.02814750 -0.00039540 -0.00572020
+v 0.02808784 -0.00000231 -0.00612470
+v 0.02792459 -0.00000231 -0.00493061
+v 0.02792537 -0.00039540 -0.00493097
+v 0.02812473 -0.00118350 -0.00572020
+v 0.02800543 -0.00118350 -0.00653027
+v 0.02802741 -0.00039540 -0.00653027
+v 0.02791281 -0.00118350 -0.00495217
+v 0.02802741 -0.00000231 -0.00653027
+v 0.02769147 -0.00000231 -0.00452540
+v 0.02769069 -0.00039540 -0.00452612
+v 0.02807450 -0.00197161 -0.00572021
+v 0.02795991 -0.00197161 -0.00653028
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+v 0.02779351 -0.00118349 -0.00700733
+v 0.02780528 -0.00039539 -0.00701703
+v 0.02791674 -0.00000231 -0.00677347
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_17.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476d5dd2dcbd6e3f36971acb6da9e86a2465a018
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_17.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_18.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6d9efbe4180fe07dfbdf5823c0d5385831e082
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_18.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_19.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2fd39dd05735079f95570fdbc5ccfd6e3d6bfe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_19.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_2.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f43faefd089e88ae5fdd8c5535d52bc30655626
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_2.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_20.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79bb5f865b8fc175b58fd5b4867b391f200e21c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_20.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_21.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e186b2ed9b05e1729d761e97a5f6a2ac7f9fa1f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_21.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_3.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7955980646fc439722d99aa627486a4c5d717865
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_3.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_4.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d2df15c054ca7b370e3f7ed031eaba0eda3c02
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_4.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_5.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19839842d7db708a0be698509ad0a42f320684ac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_5.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_6.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c27116b3ca7c86177912a1de02552a1bfc36dc88
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_6.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_7.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a6896004e8c1171244356b4ffef9eb140c8105
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_7.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_8.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1539b6555e58566d13ed5c537e903913a17a01e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_8.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_9.obj b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b96166603b4e0729954db4154293c842749009f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/mesh/nail_clipper_034_collision_9.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/nail_clipper_034.xml b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/nail_clipper_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..42597851dfb57e6ccc9d5446dd7cd949d63ac16d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/mjcf/nail_clipper_034.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_034">
+  <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/nail_clipper_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_034_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_034_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_034_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_034_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_034_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_034_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_034_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/nail_clipper_034_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/nail_clipper_034_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_034">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/nail_clipper_034.urdf b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/nail_clipper_034.urdf
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+++ b/dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/nail_clipper_034.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_034">
+   <link name="nail_clipper_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_034.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_034_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>2be2f3404516586b93a47b619cfe3433</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>silver nail clipper</name>
+         <color>silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact silver metal nail clipper with folding lever</description>
+         <min_height>0.0236</min_height>
+         <max_height>0.0236</max_height>
+         <real_height>0.0236</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123731</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022093 -0.005983 -0.007276</min>
+            <max>0.027907 0.005980 0.016336</max>
+         </aabb>
+         <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
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