diff --git a/.gitattributes b/.gitattributes
index 813c775daaab3edb9e842fccd88ff09b70b77e42..eae203a5db78797ff926ad014d0cd33640ac87aa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2535,5 +2535,5 @@ dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/mesh/to
 dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/toothbrush_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/mesh/nail_clipper_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/nail_clipper_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/7b37eed30a415aec887af82cd9858406/hair_clip_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/7b37eed30a415aec887af82cd9858406/mesh/hair_clip_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/nail_clipper_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bde9f24d3f57c6cedd61bc7d6f81f3b5b2d0e094
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_022_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d3fe90f989f004d5ecaabef5d3fbe038a70d5b1eb1e25e29ccc1e79e72e1112
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.glb b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.mtl b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42e4e728c75cea25cd6e7b91b695aa72d3586481
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.mtl
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+newmtl nail_clipper_022_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/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5f0f3ff71a39ccd4d35dd10a41f43726b39c21b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.obj
@@ -0,0 +1,112166 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_022_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022_collision.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdb957cd067b09d52cb2d435fb8d9232867581cf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022_collision.obj
@@ -0,0 +1,3956 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9e533e7a90a4ec3e241c3888c56a06cadd6b087
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision.obj
@@ -0,0 +1,3956 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_0.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac3eb4c6ad92e512c1bb8696797a81b94bde995
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_1.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b50d20e01716c0fc6499bfcc4eb7263b9b52fc00
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_10.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dd7ceebbaaa5fe1e83bb5b00d5ba232d3c2ecbb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_10.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_11.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d047576b0a771a0c1711909aac29f5dba6c3918f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_11.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v 0.01846754 -0.00075938 -0.00195069
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+
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_2.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ffbb7291c7c083381b634d9c2353ae5bb24f367
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_2.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_3.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..963f6152fc24befa2dfced2342e64a2f1d86307a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_3.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.01330749 0.00466986 0.00016440
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+
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_4.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec99af3b1b1f3978eda5e50ec85eacc830dff66
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.01281470 -0.00075938 -0.00206688
+v 0.01464366 0.00236358 -0.00331677
+v 0.01469275 0.00213543 -0.00331677
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+v 0.01605373 -0.00075938 -0.00210028
+v 0.01281470 -0.00075939 0.00016438
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+v 0.01457784 0.00273679 -0.00331677
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+v 0.01851298 -0.00075938 -0.00196057
+v 0.01851298 -0.00075939 0.00016438
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+
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_5.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cf1594167e4f4a7d39f3cc86801e44ca1d41aec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_5.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.01936902 -0.00075939 0.00016438
+v 0.01966547 -0.00075939 -0.00008028
+v 0.01846785 -0.00075939 0.00016438
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+v 0.02051698 -0.00075939 -0.00088344
+v 0.02032110 -0.00075939 -0.00069296
+v 0.02010349 -0.00075939 -0.00048510
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+
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_6.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf03d7a2ba63e15ad353bcfd40c729d3d7a434c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_6.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.01281323 0.00519419 -0.00524084
+v 0.01281323 0.00495240 -0.00469195
+v 0.01281323 0.00518911 -0.00530845
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_7.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64f46a09fc1385e6060d9b1403b73f23d27a443b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_7.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_8.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9bffc745150f19d78cdf402da857a19b2c57686
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_8.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_9.obj b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/mesh/nail_clipper_022_collision_9.obj
new file mode 100644
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--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/nail_clipper_022.xml b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/nail_clipper_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..656d74148c348e446bce7272711fe1c93aa97ac8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mjcf/nail_clipper_022.xml
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+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/nail_clipper_022.urdf b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/nail_clipper_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5fcd6d2e7b35452141628ad6a3f449b7ee4644c1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/nail_clipper_022.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_022">
+   <link name="nail_clipper_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_022.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_022_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>7950e128521057dba32f32727b107b2a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>metal nail clipper</name>
+         <color>silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small silver hinged nail clipper with curved lever</description>
+         <min_height>0.0227</min_height>
+         <max_height>0.0227</max_height>
+         <real_height>0.0227</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123350</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.028409 -0.005360 -0.007174</min>
+            <max>0.021591 0.005364 0.015550</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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/7950e128521057dba32f32727b107b2a/nail_clipper_022.usd b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/nail_clipper_022.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/nail_clipper_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d2d411e83b1ae0ed19920274d15116ea5ea7e2e02a0c7ecf612eafa4d97ac0a
+size 4893224
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/textures/material_0.png b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8284344
diff --git a/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/video.mp4 b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:040685bc9f7dfe04337ccc8f2c72ed76463c7f7986daaf8dc1391cfbe9fd69da
+size 189450