diff --git a/.gitattributes b/.gitattributes
index c2f4231f3c9c74a5afe62e74f95d24fe16efbb21..2c22b2815ab86d22f04e8940756e4b0f5d61024b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2507,3 +2507,5 @@ dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/mesh/to
 dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/toothbrush_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cb636adf580c9f09b4d172fb896c4102ae8a0453
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..23e97d8e33059ebae90ebd88ad818b697a035417
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:147a036da542ad927640564414a695b25d9b8cb42673a9f29abc124d2a02affc
+size 9372531
diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.glb b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..69b44e31f558c670985fcfbdf1a7cfa2a5137a69
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbc16a068266444c02e49465b121de64bd52bae9560b087add8e28b6bff647fb
+size 12721452
diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.mtl b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ce614f98cbe75756e148fefb15277a950b36743
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.mtl
@@ -0,0 +1,6 @@
+newmtl nail_clipper_020_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/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39881cf747e0ab83fe627e5a1a49324c1fafd376
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.obj
@@ -0,0 +1,117292 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_020_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020_collision.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66ebc1a8d1c6bc2d469ca8516d794e0b1f1df62f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020_collision.obj
@@ -0,0 +1,5398 @@
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020.obj
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e335087ea6e34a52c029fabd4dd1fa77e7e23e94
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision.obj
@@ -0,0 +1,5398 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_0.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e425c286937df439b64986edc26035cc69410da8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_1.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619516ed1fcc2e9a21d8bebd75e2536563fc3cca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_1.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_10.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6506a536c7d143d620ece3d99a873abf3fbe788c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_10.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_11.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c94f65a00d16f5e7897f0476efa534f113efebe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_11.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_12.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9725ada1315df45080cb127e72152bcdbc41cfd5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_12.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_13.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a7b6ae4c140a3f29781f37ae3bc3d1fd87be2e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_13.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_2.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151a246fc571cbff5c253ab15d177672e7636563
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_2.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_3.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df116cdf664c50a70e0302f68441b293574c7f08
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_3.obj
@@ -0,0 +1,667 @@
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_4.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..928c521af4ea3d2602e9089c8705f44889598369
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_5.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f55e78a3386be14531e0ae01465c84aa32c3e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_5.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_6.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37e8104d5b2f06b575ca965e84dc29afc3e07eb6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_6.obj
@@ -0,0 +1,709 @@
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_7.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..633ab4a3d366d54b6c1268ade8b3afe26b6588c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_7.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_8.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de3979a52356a3018f341a0740823bc4dd32fec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_8.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_9.obj b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9a6c83e5bc8795fdd35d4b10fdadf4648ff8d1f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/mesh/nail_clipper_020_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/nail_clipper_020.xml b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/nail_clipper_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f8bd9e0606df8d5ccc120790e518117bd5ca7f46
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mjcf/nail_clipper_020.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_020">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/nail_clipper_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_020">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.urdf b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b409ad4009ac03805d7ae179b4086987582df50f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_020">
+   <link name="nail_clipper_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_020.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_020_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>553c34cdebb75c19ba554de3e167fed3</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>silver metal nail clipper with folding lever and curved cutting jaws</description>
+         <min_height>0.0339</min_height>
+         <max_height>0.0339</max_height>
+         <real_height>0.0339</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154926</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.027613 -0.007479 -0.008577</min>
+            <max>0.040522 0.007520 0.025345</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.usd b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b8d77fd8a6c99b9a522d9873f57b9b16e58c01cc932aae3c7b282193cd393a
+size 4923325
diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/textures/material_0.png b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/textures/material_0.png
@@ -0,0 +1,3 @@
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+size 9372531
diff --git a/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/video.mp4 b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96767e4a049ed33e7b78a67ba5aa6b4338601d4e3c36d3c651023aa6a5f1e6b8
+size 214325