diff --git a/.gitattributes b/.gitattributes
index 40cc992f796a244666f7a90bc41eee36e4f04fbe..f35e639d925be3a03ef1325d4ae0e0159cb23b21 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2467,7 +2467,5 @@ dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/hair_cl
 dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/mesh/hair_clip_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/toothpaste_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/mesh/toothbrush_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/toothbrush_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mouthwash_cup_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/nail_clipper_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..67a71ea8614dd0ee16c64ac7e7dc3fa594c5d5fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd nail_clipper_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..beab52e5e451c259e7ee46dc1de59074defae1a3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bd2084222af6d9179a9bc85d07e839a421922bcb28bac288754738a6f118972
+size 8118647
diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.glb b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0f9228b5851958b6a9600c563e78d9d033a9d347
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d4f70c2954e825f4249e76a66fb24c8cb0b678131c113437df96ba938f35463
+size 11377948
diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.mtl b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a44c368e5d226ec59dce2922c179abec362e9d04
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.mtl
@@ -0,0 +1,6 @@
+newmtl nail_clipper_009_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/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ed83371410701c9b47f755ac7ae7e70aa05c24
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.obj
@@ -0,0 +1,107664 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009_collision.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997a8f91eae53f48826b8188c0ffa1ed569b1b85
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0186847d7365ac55c93ff7f7760c04dd1749f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision.obj
@@ -0,0 +1,4508 @@
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_0.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d91f33eb9433299bea139bac7171b48589d5b3b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_1.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dff27329441e666f7d0375e8733fccecb4ecd1a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_1.obj
@@ -0,0 +1,742 @@
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_2.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5115eadb549882a96f4cf75ea52b0fd97ed19a6c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_2.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_3.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b6179ab86f5f008722e3d56a8b9f8ac14be0495
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_3.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_4.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa67427647db2dd935b13e5ac51907f78438e16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_4.obj
@@ -0,0 +1,811 @@
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_5.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d240f270ddca95e82f7f18d91b7f74a6150e36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_6.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7506016a52ebd1c19f7547024bd82a3e8ca2549f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_6.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_7.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89a02d4a046cc95229ca30dba62485e83a10064f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_7.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_8.obj b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dee975f47a6d9705368e6cd0711e4fcb2a46227
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/mesh/nail_clipper_009_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/nail_clipper_009.xml b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/nail_clipper_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..99397182661668d12a87fcf41f9d2acb883590b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mjcf/nail_clipper_009.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_009">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/nail_clipper_009.urdf b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/nail_clipper_009.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/nail_clipper_009.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_009">
+   <link name="nail_clipper_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
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+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>1202e6bea4c05ce98e0fcee6309ab148</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>ergonomic nail clipper</name>
+         <color>silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact nail clipper with pink grip and metal body</description>
+         <min_height>0.0323</min_height>
+         <max_height>0.0323</max_height>
+         <real_height>0.0323</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416201743</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
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+            <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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