diff --git a/.gitattributes b/.gitattributes
index fd710ef399ba992dc5fd97af422324dcea0019d3..a4b6558b3f12287b127d00a5a38cf006252ced6a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2581,3 +2581,5 @@ dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/comb_02
 dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/mesh/comb_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/hair_clip_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/mesh/hair_clip_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/nail_clipper_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5abbafba66238dd1c703586a9c9600b88a582d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..08b3c10909974eb87b2da05c28cb1268201a9973
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b75ee3dd93d9093410ae362d3d6a7dd8b9752f943b16312ca7184755e2df2bb
+size 10098882
diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012.glb b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..88b3840f4f1b828849512253ff4e37f6314579cb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6c4e9eeb5cc747146fa13fddc8a089ca66eaad7e94e273c3b6252a707b0eae3
+size 13523664
diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012.mtl b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6cd6d4408193a029e808c7fa3afee1f47ce95f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012.mtl
@@ -0,0 +1,6 @@
+newmtl nail_clipper_012_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee79f0c1c16631e8103ef5284f6a1ec44ddcb5f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012.obj
@@ -0,0 +1,110700 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_012_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012_collision.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16dbc1f72d14dc628f289aac6aaca8a6b990e8fb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mesh/nail_clipper_012_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a035a164694eccbe54b68b1229af9f9a8b2a519a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision.obj
@@ -0,0 +1,8673 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_0.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3b098f7cabedd1b099b2bd8c805a4f7e9779bf1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_1.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c7e0c353e6facdace4121237d213a779fa5f05
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_1.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_10.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad95266462a2e231fd057857b6842f34b620fbe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_10.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_11.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc45e37b53e596cba9d9ce45ae89c3c5469976bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_11.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_12.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be34df44aed8423449bf32070fe0492074a13340
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_12.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_13.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36b797d10f8c28fb522f1ddbd66d8aa7bfaa0d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_14.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8ebaff8da59186129506dd113047391c462eb5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_14.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_15.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e870f483e18e95d818f389cf362e0100266c4e5d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_15.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_2.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a44cb0ae55d12a34b85237066f513ee916fb5fa0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_2.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_3.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ca761124b2e923523559cee4a4791ed3491ecb1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_3.obj
@@ -0,0 +1,844 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_4.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d29b6a28ffb7859a1964a4ca0d251eeb49579a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_5.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523d02e9a99997e7c35ec26dc19f07d83fa0da19
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_5.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_6.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20eb1aad4f4b19b2e888040a8711fa56062c11fb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_6.obj
@@ -0,0 +1,640 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_7.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a24a58f213cf5ed33fd1d0ab42f0240b2deeeb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_8.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab919877a5f3ea672c35a35cac30c99bb61d90d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_8.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_9.obj b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f695580b4649da40bd7a65a0cc405c2749cfabb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/mesh/nail_clipper_012_collision_9.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/nail_clipper_012.xml b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/nail_clipper_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2964aa8d7ff2475cf5a31e21862e956432e1daa9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/mjcf/nail_clipper_012.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_012">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" 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/a308dd3353da599cb0087867c5a5ae0c/nail_clipper_012.urdf b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/nail_clipper_012.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/nail_clipper_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_012">
+   <link name="nail_clipper_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>a308dd3353da599cb0087867c5a5ae0c</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>pink nail clipper</name>
+         <color>pink,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small pink metal nail clipper with cartoon print and looped lever</description>
+         <min_height>0.0279</min_height>
+         <max_height>0.0279</max_height>
+         <real_height>0.0279</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154559</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022478 -0.007501 -0.009747</min>
+            <max>0.027489 0.007499 0.018155</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Main lever, body, and cutting head are mislabeled and split inconsistently; not fixable by merging alone.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/nail_clipper_012.usd b/dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/nail_clipper_012.usd
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