diff --git a/.gitattributes b/.gitattributes
index b15af5a3cc8cc2518784e3a141ca9b26b95a838c..f40985f7137046051f2201d6e9244c9c4ac8caa7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2493,5 +2493,7 @@ dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/hair_cl
 dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/mesh/hair_clip_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/mesh/nail_clipper_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/nail_clipper_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/3a959c90865d51038c3a8d3b31a30746/mesh/razor_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/3a959c90865d51038c3a8d3b31a30746/razor_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/toothpaste_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/nail_clipper_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..79cbbb5608554832755a70240035aa1536844ba8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e00f3c0df594615195520b46ae52fe7e19bd2d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d574a8c3509992e36f00e6431ce0751f45d25192e976eab13969516c19c95f87
+size 8887662
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.glb b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cdd0fccaa1fe255fa31b171ee37b1066464e19e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2980518618728d43bafbbf60eaa8dfdfe59df8903555c4f90a3c19c5533cbbc
+size 12197012
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.mtl b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1bb9a2424572e6f539dfe3a773d3ac1725ee5c17
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.mtl
@@ -0,0 +1,6 @@
+newmtl nail_clipper_025_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/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1443bebd5d103bb93e4fc36f81fd1fc2748d52
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.obj
@@ -0,0 +1,111086 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_025_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025_collision.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10fa3e480cfed840e149f31d3aa5a59c84549d67
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025_collision.obj
@@ -0,0 +1,9087 @@
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6200a1edb2d9c667c80d4828bfc8decb2de9cd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision.obj
@@ -0,0 +1,9087 @@
+# https://github.com/mikedh/trimesh
+
+o nail_clipper_025_collision.obj
+v -0.01663985 0.00029223 -0.00530191
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_0.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f012a8d5cd15990fe4c7dbdf5c9e4dbf4dc8f238
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_0.obj
@@ -0,0 +1,1045 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_1.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5773eeb62b622f203486457e42c708d02eefbaae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_1.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_10.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0aa486356a4cdb44e6a057514a6cbe66e9e074
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_10.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_11.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efa121216d53fae672f9ee494218b5cebbcb493d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.00526487 0.00024205 -0.00524729
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+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_12.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f7b4277a3e060561109a43608dd1110740da5d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_12.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_13.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf5aa1883a96a5d13f60edafb302e54324c92bed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_13.obj
@@ -0,0 +1,520 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_14.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8637b1c9130e61209e65c943e1aec88fa12c1e27
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_14.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.01914425 -0.00115060 -0.00425490
+v -0.01836192 -0.00226600 -0.00425491
+v -0.01876007 -0.00194464 -0.00305212
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+v -0.01914425 -0.00107744 -0.00385079
+v -0.01914425 0.00105152 -0.00425490
+v -0.01801500 -0.00259923 -0.00425491
+v -0.01801500 -0.00265165 -0.00305212
+v -0.01914425 -0.00041393 -0.00305211
+v -0.01914425 0.00094373 -0.00386315
+v -0.01880354 0.00172688 -0.00305210
+v -0.01866927 0.00195926 -0.00305210
+v -0.01841315 0.00220252 -0.00425489
+v -0.01789392 -0.00271394 -0.00425491
+v -0.01775189 -0.00282765 -0.00425491
+v -0.01747637 -0.00303729 -0.00425491
+v -0.01749189 -0.00304422 -0.00305212
+v -0.01914425 0.00046019 -0.00305211
+v -0.01904724 0.00088341 -0.00305211
+v -0.01903249 0.00094670 -0.00305211
+v -0.01898127 0.00116523 -0.00305211
+v -0.01858389 0.00208781 -0.00305210
+v -0.01835416 0.00229152 -0.00425489
+v -0.01726139 -0.00316188 -0.00425491
+v -0.01713954 -0.00322714 -0.00425491
+v -0.01737082 -0.00310849 -0.00305212
+v -0.01800103 0.00263859 -0.00305210
+v -0.01788771 0.00274737 -0.00425489
+v -0.01693542 -0.00330229 -0.00425491
+v -0.01633237 -0.00353962 -0.00305212
+v -0.01653649 -0.00346348 -0.00305212
+v -0.01707822 -0.00325879 -0.00305212
+v -0.01747482 0.00306873 -0.00305210
+v -0.01747094 0.00306973 -0.00425489
+v -0.01633237 -0.00349511 -0.00425491
+v -0.01140013 -0.00498529 -0.00305213
+v -0.01718222 0.00322793 -0.00305210
+v -0.01713721 0.00326156 -0.00425489
+v -0.01614300 -0.00352577 -0.00425491
+v -0.01121619 -0.00502682 -0.00305213
+v -0.01706115 0.00329220 -0.00305210
+v -0.01633237 0.00357006 -0.00305210
+v -0.01633237 0.00352953 -0.00425489
+v -0.01550503 -0.00360092 -0.00425491
+v -0.01121619 -0.00477368 -0.00325206
+v -0.01121619 0.00507506 -0.00305209
+v -0.01140479 0.00502760 -0.00305209
+v -0.01134347 0.00504540 -0.00305209
+v -0.01550503 0.00365116 -0.00425489
+v -0.01531565 -0.00358905 -0.00425491
+v -0.01121619 -0.00473709 -0.00326584
+v -0.01467846 -0.00354357 -0.00425491
+v -0.01448909 -0.00349215 -0.00425491
+v -0.01385111 -0.00331218 -0.00425491
+v -0.01339864 -0.00312232 -0.00425491
+v -0.01121619 0.00502265 -0.00309624
+v -0.01467846 0.00359578 -0.00425489
+v -0.01121619 0.00481006 -0.00325249
+v -0.01298497 -0.00278909 -0.00425491
+v -0.01287709 -0.00270009 -0.00425491
+v -0.01252938 -0.00240048 -0.00425491
+v -0.01217935 -0.00191793 -0.00425491
+v -0.01181225 -0.00125047 -0.00425490
+v -0.01170902 -0.00094888 -0.00425490
+v -0.01160347 -0.00037041 -0.00425490
+v -0.01160037 0.00022783 -0.00425490
+v -0.01159959 0.00040681 -0.00425490
+v -0.01121619 -0.00012322 -0.00327088
+v -0.01385111 0.00335154 -0.00425489
+v -0.01298341 0.00282153 -0.00425489
+v -0.01330162 0.00308357 -0.00425489
+v -0.01339709 0.00315971 -0.00425489
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+v -0.01253249 0.00243193 -0.00425489
+v -0.01121619 0.00040680 -0.00327041
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+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_15.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16322e248988dbdb8e26c63fa52dfaf4847a079e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_15.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02434691 0.00489679 -0.00362772
+v -0.02432450 0.00486614 -0.00303214
+v -0.02385470 0.00528582 -0.00362772
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+v -0.02093943 0.00088976 -0.00329451
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+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_16.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6171ad7b2b0d46e9fcea162c8270716908c8e421
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_16.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01605800 -0.00480408 0.00175129
+v -0.01582812 -0.00481612 0.00175129
+v -0.01467845 -0.00473245 0.00262657
+v -0.01605800 -0.00478602 0.00185622
+v -0.01605800 0.00133165 0.00175131
+v -0.01500086 -0.00481733 0.00175129
+v -0.01467845 -0.00481251 0.00206837
+v -0.01464935 -0.00473245 0.00263505
+v -0.01605800 -0.00474148 0.00210811
+v -0.01605800 -0.00466142 0.00247719
+v -0.01605800 -0.00471319 0.00226019
+v -0.01605800 0.00133165 0.00229644
+v -0.01465170 0.00133165 0.00175131
+v -0.01464935 -0.00479867 0.00176247
+v -0.01464935 -0.00481251 0.00206837
+v -0.01464935 -0.00479806 0.00175129
+v -0.01464935 -0.00480950 0.00209545
+v -0.01464935 -0.00470897 0.00265432
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+v -0.01464935 0.00133165 0.00187564
+v -0.01464935 0.00116371 0.00175131
+v -0.01464935 -0.00426172 0.00295806
+v -0.01605800 -0.00430025 0.00261337
+v -0.01605800 0.00052022 0.00288575
+v -0.01464935 0.00133165 0.00190191
+v -0.01464935 -0.00348339 0.00312725
+v -0.01605800 -0.00404321 0.00265527
+v -0.01605800 0.00040645 0.00293464
+v -0.01464935 -0.00270566 0.00305910
+v -0.01605800 -0.00348339 0.00273717
+v -0.01464935 -0.00343584 0.00312375
+v -0.01605800 -0.00021417 0.00294582
+v -0.01605800 -0.00037188 0.00294852
+f 1 2 3
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+f 1 10 20
+f 1 20 26
+f 1 26 30
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+f 29 33 30
+f 29 34 31
+f 29 31 35
+f 29 35 36
+f 29 36 33
+f 31 34 32
+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_17.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ebf851e16127210da7ae3f715a9e2672b88a50a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_17.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.02017177 0.00003282 -0.00688312
+v 0.02117920 -0.00126588 -0.00646681
+v 0.02117920 -0.00108530 -0.00688312
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_18.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c378c36d0fc692d5af20d0b8352082e4e0e937f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_18.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_19.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86d6d45bcad7ab740678c8c959b73b2ac8e46b5b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_19.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_2.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab15b1c6963e57178c172cfc22cced52ae2175e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_2.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_20.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c4ad55323ed6bd788813ee0dbb1532a24a7ae70
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_20.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_21.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dead5d2c4d032965f514ad8063ee80c391680aa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_21.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+v -0.01605800 0.00133165 0.00229634
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+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_22.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d6ea01bc901fb0ab55b4768e81767418670daf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_22.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_23.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0479fde982ad5b62162fe6eb483d4d11f0280c13
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_23.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_24.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8ca2e581af723de9eb49466fea67a716b2dbd1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01914425 -0.00554845 -0.00317439
+v -0.01914425 -0.00554845 -0.00217439
+v -0.01914425 0.00559214 -0.00317439
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+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_25.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87ee3f683c2a8eecdb418c47c3218f0c2c9d5d96
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_25.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_26.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7db67352cfcd0ab37894a3690bffcc6253eec3e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_26.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_27.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d94bd6cb1b8c25650edb98fa14ee7e113ce32a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_27.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_28.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af3af869784dd4d7df96e3ce5447c4c69333b9cc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_28.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_29.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1f23804279f915b16129fd02adffff3634481f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_29.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_3.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9846ca92c3094f7018c4c837ea80a543018cfe25
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_3.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_30.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d79b14d2a691d1e706d14a5b9bb5f1352d5262bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_30.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_4.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49d968c0a85a962e7cd6715b84201cc8f7b235dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_4.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_5.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0422fada86612c0cc4cf86c61094396403b9e893
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_5.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_6.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9b2c37c1d013559c324057d7d47ca94f9bde02
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_6.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_7.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e9ca029cf59a64d50f0a947434488a78c919fe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_7.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_8.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37acde2afdbe4a164a15da6ad11d30ffe3e8494a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_8.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_9.obj b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..826f5f86e9ba1fbb68e0f8237c4f62f370b0bee9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/mesh/nail_clipper_025_collision_9.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02436708 0.00435044 -0.00118678
+v -0.02428478 0.00449008 -0.00063092
+v -0.02436708 0.00494272 -0.00118678
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diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/nail_clipper_025.xml b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/nail_clipper_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..32c7e5e6b70e10cc29a11bb75caa5d9259486747
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mjcf/nail_clipper_025.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_025_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_025_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_025_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_025_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_025_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_025_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_025_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_025_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_025_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_025_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_025_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/nail_clipper_025_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/nail_clipper_025_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/nail_clipper_025_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/nail_clipper_025_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/nail_clipper_025_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/nail_clipper_025_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/nail_clipper_025_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/nail_clipper_025_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/nail_clipper_025_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/nail_clipper_025_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/nail_clipper_025_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/nail_clipper_025_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/nail_clipper_025_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/nail_clipper_025_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/nail_clipper_025_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_025">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" 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/3d07e2d8c1b95b3ba9aaa32ad3ec559d/nail_clipper_025.urdf b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/nail_clipper_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77665e2f679b509dfa0bef064af00a7779fe5d7e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/nail_clipper_025.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_025">
+   <link name="nail_clipper_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_025.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_025_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>3d07e2d8c1b95b3ba9aaa32ad3ec559d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>metal nail clipper</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>gray metal nail clipper with curved lever and textured top</description>
+         <min_height>0.0276</min_height>
+         <max_height>0.0276</max_height>
+         <real_height>0.0276</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123443</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024368 -0.005728 -0.009588</min>
+            <max>0.025632 0.005766 0.017991</max>
+         </aabb>
+         <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/3d07e2d8c1b95b3ba9aaa32ad3ec559d/nail_clipper_025.usd b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/nail_clipper_025.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/nail_clipper_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7bfe6923bac865fe44bb282b65458b7c3242f87ee9e2d02c2fbc122e9fd9a5
+size 4892599
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/textures/material_0.png b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e00f3c0df594615195520b46ae52fe7e19bd2d4
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+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d574a8c3509992e36f00e6431ce0751f45d25192e976eab13969516c19c95f87
+size 8887662
diff --git a/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/video.mp4 b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9509b55b9f53de3c43a1e5a65de9703569f0db37
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/video.mp4
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