diff --git a/.gitattributes b/.gitattributes
index ec4a7e66a9f4d5459a31e10cdd09e131ca703676..c2117c74d6e43a436c2fdf164e5eb74b3060552a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2575,7 +2575,5 @@ dataset/bathroom_supplies/personal_care/9e1c9f4a38f2576f935ee92d802eaefc/mesh/to
 dataset/bathroom_supplies/personal_care/9e1c9f4a38f2576f935ee92d802eaefc/toothpaste_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/toothpaste_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/a041edc3afcd592fbef3f78858435f39/mesh/mouthwash_cup_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/a041edc3afcd592fbef3f78858435f39/mouthwash_cup_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d/mesh/razor_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d/razor_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/nail_clipper_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71dee9260a21970278eabf1e46ddf7f093589cf4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_003_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+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/a073ee93db7758a29475fc6f5ddda7c5/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d9e9d1d67ce6b1a88e895c27817cc039282dde5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2658b828db0924943625c638a48d4be268ca48f4e2e0b2c1d398240d9310f0c
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003.glb b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..59d294a175b86341ad2fc623288467e413c5cb47
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f23fd1b4941986ab1e14e5b6d0beaca0be2e60b47fb2661ef949951e463a58
+size 10948084
diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003.mtl b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d390e5c6e2b55f975d9880513cc5de6ea7828ed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003.mtl
@@ -0,0 +1,6 @@
+newmtl nail_clipper_003_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/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..698b2803e4bd2df4b5dd1b901e272d03dd7019fa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003.obj
@@ -0,0 +1,109244 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_003_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003_collision.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ececa512dede1b357eb0943ff6f42ae61adad989
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mesh/nail_clipper_003_collision.obj
@@ -0,0 +1,4901 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7748f748d0022da6701bb95ff8c3f82a9f3894f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision.obj
@@ -0,0 +1,4901 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_0.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..313cec9c6f3e940bc9a90190744a9ea1bceaf738
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_1.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8df28f6a89723ca572453a70af4d4a33d45a13f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_1.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_10.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0723c9339a4315722b41fee86c4273061fb86ce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_10.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_11.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6c4cf935d408e6afa5df3beb443ffed14d45795
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_11.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_12.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeb7a1feed783d6bd7f17313026a277f68135a03
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_12.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_13.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c109d532688b9a558572653eb0f80875dbc188
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_13.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_14.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5624bff5b11f8465b905496854ed1ca8e5808c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_14.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_2.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53598ae4cc8f682624df71e7ea522d239b91d783
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_2.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_3.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..078fe69dbb35d31c44e6b840b0996ebb6a98420d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_3.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_4.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43167faf4ef05a6b7e2752994c6f48573cdb6dbf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_4.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_5.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45769225ca9ef232d44a940c806ef88da2fdeb86
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_5.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_6.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..403bb712091587fc88aa19886d8aa3bc3ce5fdd0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_6.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_7.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2364d738544f0e92d2c9c42fd53a904e1609aab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_7.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_8.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05027370677ce11a0fbaede073f7e5d2ffd4e8b1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_8.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_9.obj b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..425da8945085f053e1a6dc2255c318b03ca9a9b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/mesh/nail_clipper_003_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/nail_clipper_003.xml b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/nail_clipper_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..caf56a80cd20b87430cbb6734d15948d898692e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/mjcf/nail_clipper_003.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_003">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/nail_clipper_003.urdf b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/nail_clipper_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f9b6c5501c123259ec2a5ad25c90956d59b1b48
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/nail_clipper_003.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_003">
+   <link name="nail_clipper_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>a073ee93db7758a29475fc6f5ddda7c5</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>brown nail clipper</name>
+         <color>brown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact nail clipper with curved edges and a loop handle</description>
+         <min_height>0.0296</min_height>
+         <max_height>0.0296</max_height>
+         <real_height>0.0296</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416201533</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/a073ee93db7758a29475fc6f5ddda7c5/nail_clipper_003.usd b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/nail_clipper_003.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/nail_clipper_003.usd
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diff --git a/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/textures/material_0.png b/dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/textures/material_0.png
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