diff --git a/.gitattributes b/.gitattributes
index 2b75257f30fb521c6aae026c8091ba938b0db4e1..58b65e763adc893be225bda61a14730e4c39722c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2595,3 +2595,5 @@ dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/to
 dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/toothbrush_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/toothpaste_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/nail_clipper_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6a02ed04fcaeec072e4d6c0b1f6fd8e88a9931a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_023_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.glb b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7e2dec52ccd3ca70c75c6eb46e6fa14635ce012a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.glb
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.mtl b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..27cd32cfdcbc90991bb57ae9acd4906bf48e8943
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.mtl
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+newmtl nail_clipper_023_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..180f1011dfe208c29b17bc04f608959c12671a16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023.obj
@@ -0,0 +1,111558 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023_collision.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745f13060ce3330a15696029ebc415e3523c91d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023_collision.obj
@@ -0,0 +1,5619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mesh/nail_clipper_023_geometry_Looks_material_0.png
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--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4b49e1b57fc235c9013130ca007432c5ca4114
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision.obj
@@ -0,0 +1,5619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_0.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ece8176dc979fa346d20a72ae737150cd48078
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_1.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa7eee51df53ecdbfd78fbb7cbd17a10d290231b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_1.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_10.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1db9845c66c4a7ab6ac1cdd65024c03198bdb5c0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_10.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+f 41 48 54
+f 42 55 56
+f 42 56 43
+f 42 54 55
+f 46 57 47
+f 47 57 50
+f 47 50 52
+f 48 49 54
+f 49 53 55
+f 49 55 54
+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_11.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f6ab413c377f0579f5adf70ab43fc076ebbf87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_11.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00960979 -0.00000076 0.00134280
+v -0.00981722 -0.00000077 0.00285633
+v -0.00831517 -0.00330865 0.00285632
+v -0.00817485 -0.00374114 0.00285632
+v -0.00816020 -0.00393935 0.00285632
+v -0.01057740 -0.00284296 0.00134279
+v -0.02021932 -0.00000076 0.00134280
+v -0.01867090 -0.00000077 0.00285633
+v -0.00845061 -0.00438145 0.00285631
+v -0.00850064 -0.00435692 0.00278934
+v -0.01074090 -0.00315085 0.00134279
+v -0.02059392 -0.00340197 0.00134279
+v -0.01995088 -0.00000077 0.00171985
+v -0.01893935 -0.00000077 0.00269751
+v -0.01868189 -0.00006331 0.00285633
+v -0.00875688 -0.00444496 0.00285631
+v -0.00898627 -0.00441994 0.00271882
+v -0.01343752 -0.00459071 0.00134278
+v -0.01318006 -0.00453154 0.00134278
+v -0.01154013 -0.00386669 0.00134279
+v -0.02062443 -0.00393934 0.00134279
+v -0.01953724 -0.00000077 0.00226298
+v -0.01994234 -0.00000077 0.00173155
+v -0.01952504 -0.00000077 0.00227379
+v -0.02051583 -0.00393935 0.00141983
+v -0.01773502 -0.00367042 0.00285632
+v -0.00898627 -0.00448152 0.00285631
+v -0.01394756 -0.00467298 0.00134278
+v -0.02043042 -0.00434488 0.00134278
+v -0.01694312 -0.00436750 0.00285631
+v -0.02035110 -0.00446515 0.00134278
+v -0.00947557 -0.00455753 0.00285631
+v -0.01425260 -0.00471772 0.00134278
+v -0.01642698 -0.00442571 0.00285631
+v -0.02019614 -0.00454645 0.00134278
+v -0.01973369 -0.00464268 0.00141241
+v -0.01877096 -0.00485290 0.00134278
+v -0.00981356 -0.00459601 0.00285631
+v -0.01510430 -0.00480335 0.00134278
+v -0.01559969 -0.00450269 0.00285631
+v -0.01972637 -0.00468067 0.00134278
+v -0.01824994 -0.00488994 0.00134278
+v -0.01477240 -0.00456715 0.00285631
+v -0.01020646 -0.00463402 0.00285631
+v -0.01596331 -0.00485386 0.00134278
+v -0.01100934 -0.00470089 0.00285631
+v -0.01762887 -0.00491544 0.00134278
+v -0.01266270 -0.00471580 0.00285631
+v -0.01683696 -0.00489139 0.00134278
+v -0.01183663 -0.00473168 0.00285631
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 20
+f 1 20 19
+f 1 19 18
+f 1 18 28
+f 1 28 33
+f 1 33 39
+f 1 39 45
+f 1 45 49
+f 1 49 47
+f 1 47 42
+f 1 42 37
+f 1 37 41
+f 1 41 35
+f 1 35 31
+f 1 31 29
+f 1 29 21
+f 1 21 12
+f 1 12 7
+f 1 7 13
+f 1 13 23
+f 1 23 22
+f 1 22 24
+f 1 24 14
+f 1 14 8
+f 1 8 2
+f 2 8 15
+f 2 15 26
+f 2 26 30
+f 2 30 34
+f 2 34 40
+f 2 40 43
+f 2 43 48
+f 2 48 50
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+f 2 46 44
+f 2 44 38
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+f 2 32 27
+f 2 27 16
+f 2 16 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 8 14 15
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 14 24 21
+f 14 21 25
+f 14 25 15
+f 15 25 26
+f 16 27 28
+f 16 28 18
+f 16 18 17
+f 21 29 25
+f 21 24 22
+f 25 29 26
+f 26 29 31
+f 26 31 30
+f 27 32 28
+f 28 32 33
+f 30 31 35
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+f 30 36 37
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+f 34 37 40
+f 35 41 36
+f 36 41 37
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+f 37 43 40
+f 38 44 39
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+f 39 46 45
+f 42 47 48
+f 42 48 43
+f 45 46 49
+f 46 50 49
+f 47 49 50
+f 47 50 48
+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_12.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f839c94d4187a2b17c7167f816e2d5c0427255d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_12.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00846784 0.00059492 -0.00033726
+v 0.00846784 0.00018732 -0.00042468
+v 0.00846784 0.00059493 -0.00280953
+v 0.00093597 0.00059492 0.00046349
+v 0.00846784 -0.00019785 -0.00050793
+v 0.00846784 -0.00441067 -0.00280955
+v -0.00157735 0.00059493 -0.00280953
+v 0.00009820 0.00059492 0.00055242
+v 0.00846784 -0.00080098 -0.00064341
+v -0.00352766 -0.00201686 0.00036244
+v -0.00462404 -0.00267020 0.00033368
+v 0.00837490 -0.00441120 -0.00280955
+v 0.00846784 -0.00442402 -0.00251437
+v -0.00402467 -0.00484124 -0.00169470
+v -0.00485167 -0.00485834 -0.00169470
+v -0.00529210 -0.00486261 -0.00169470
+v -0.00239357 -0.00317716 -0.00280954
+v -0.00529210 -0.00393895 -0.00246517
+v -0.00529210 -0.00315152 -0.00227974
+v -0.00529210 0.00059492 -0.00115580
+v -0.00154502 0.00059492 0.00072195
+v 0.00846784 -0.00158574 -0.00083112
+v -0.00517492 -0.00279628 0.00036320
+v 0.00754925 -0.00440799 -0.00280955
+v 0.00846784 -0.00435564 -0.00207010
+v -0.00529210 -0.00485675 -0.00087579
+v -0.00319767 -0.00481507 -0.00169470
+v -0.00529210 -0.00452285 -0.00228694
+v -0.00485167 -0.00452766 -0.00230094
+v -0.00402467 -0.00453140 -0.00232478
+v 0.00268155 -0.00437968 -0.00280955
+v 0.00341427 -0.00438823 -0.00280955
+v 0.00424127 -0.00439410 -0.00280955
+v -0.00239357 -0.00392827 -0.00280954
+v -0.00529210 0.00059492 0.00105648
+v -0.00237067 0.00059492 0.00080369
+v -0.00529210 -0.00238119 0.00046348
+v 0.00846784 -0.00228290 -0.00101504
+v -0.00529210 -0.00281925 0.00036963
+v -0.00529210 -0.00291006 0.00034390
+v 0.00846784 -0.00236997 -0.00103812
+v 0.00846784 -0.00393895 -0.00173291
+v -0.00341991 -0.00436367 -0.00044059
+v -0.00402467 -0.00441495 -0.00039972
+v -0.00485167 -0.00448280 -0.00034334
+v -0.00529210 -0.00451752 -0.00031306
+v -0.00154502 -0.00417080 -0.00280955
+v -0.00071803 -0.00427070 -0.00280955
+v 0.00010897 -0.00432466 -0.00280955
+v 0.00093597 -0.00434442 -0.00280955
+v 0.00176162 -0.00436205 -0.00280955
+v -0.00508333 0.00059492 0.00104097
+v -0.00319767 0.00059492 0.00088052
+v -0.00402467 0.00059492 0.00095317
+v -0.00485840 0.00059492 0.00102318
+v -0.00497693 0.00059492 0.00103264
+v -0.00529210 -0.00319534 0.00026102
+v 0.00846784 -0.00295868 -0.00121636
+v 0.00846784 -0.00335079 -0.00135751
+v -0.00529210 -0.00393896 -0.00000123
+v 0.00846784 -0.00330752 -0.00134124
+f 1 2 5
+f 1 5 9
+f 1 9 22
+f 1 22 38
+f 1 38 41
+f 1 41 58
+f 1 58 61
+f 1 61 59
+f 1 59 42
+f 1 42 25
+f 1 25 13
+f 1 13 6
+f 1 6 3
+f 1 3 7
+f 1 7 20
+f 1 20 35
+f 1 35 52
+f 1 52 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
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+f 1 36 21
+f 1 21 8
+f 1 8 4
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+f 16 46 60
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+f 16 33 24
+f 17 34 18
+f 18 34 28
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+f 21 37 23
+f 22 23 38
+f 23 37 39
+f 23 39 40
+f 23 40 41
+f 23 41 38
+f 25 42 43
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+f 25 44 45
+f 25 45 46
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+f 28 48 49
+f 28 49 29
+f 29 49 50
+f 29 50 30
+f 30 50 51
+f 30 51 31
+f 35 37 52
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+f 37 56 52
+f 40 57 41
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+f 43 60 44
+f 43 59 60
+f 44 60 45
+f 45 60 46
+f 57 60 58
+f 58 60 61
+f 59 61 60
+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_13.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0684e6906eb0384e9a81ecc7c06718c3f86d8115
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00670897 -0.00007498 -0.00168651
+v -0.00670897 -0.00007498 -0.00068651
+v -0.00670897 0.00092503 -0.00168651
+v -0.00670897 0.00092503 -0.00068651
+v -0.00529224 -0.00007498 -0.00168651
+v -0.00529224 -0.00007498 -0.00068651
+v -0.00529224 0.00092503 -0.00168651
+v -0.00529224 0.00092503 -0.00068651
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_14.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4befd5f7cb42cbbdf19a00fddc037cdf3e92f415
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_14.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.02200060 -0.00315441 -0.00087529
+v -0.02181006 -0.00275071 -0.00129559
+v -0.02190893 -0.00315440 -0.00141784
+v -0.02193584 -0.00372020 -0.00145146
+v -0.02198684 -0.00382239 -0.00087529
+v -0.02191362 -0.00374084 -0.00028902
+v -0.02189266 -0.00315441 -0.00032233
+v -0.02181037 -0.00274617 -0.00045113
+v -0.02072594 -0.00000077 -0.00004004
+v -0.02072594 -0.00000077 -0.00005611
+v -0.02041243 -0.00000077 -0.00066915
+v -0.02040555 -0.00000077 -0.00067986
+v -0.02022627 -0.00111170 -0.00151510
+v -0.02138767 -0.00315440 -0.00169596
+v -0.02134669 -0.00396484 -0.00154932
+v -0.02104382 -0.00435396 -0.00132386
+v -0.02159449 -0.00421452 -0.00087530
+v -0.02124970 -0.00451554 -0.00005613
+v -0.02113518 -0.00446671 0.00060064
+v -0.02124375 -0.00393917 0.00071517
+v -0.02160606 -0.00315441 0.00008696
+v -0.02023785 -0.00000077 0.00131782
+v -0.02024316 -0.00000077 0.00130979
+v -0.02055667 -0.00000077 0.00077675
+v -0.02056355 -0.00000077 0.00076337
+v -0.01974631 -0.00000077 -0.00072388
+v -0.02008860 -0.00111170 -0.00151510
+v -0.02004261 -0.00158588 -0.00158263
+v -0.02050598 -0.00316195 -0.00156151
+v -0.02076442 -0.00393916 -0.00149042
+v -0.02092336 -0.00435396 -0.00132386
+v -0.01880424 -0.00514274 0.00026780
+v -0.01890748 -0.00513821 0.00028356
+v -0.01933269 -0.00511758 0.00034930
+v -0.02056074 -0.00478132 -0.00005613
+v -0.02118118 -0.00443097 -0.00087530
+v -0.02062832 -0.00465346 0.00082968
+v -0.02039804 -0.00450497 0.00131244
+v -0.02092962 -0.00393917 0.00112476
+v -0.02022001 -0.00000077 0.00134251
+v -0.01973380 -0.00000077 -0.00072329
+v -0.01929076 -0.00000077 -0.00050942
+v -0.01880424 -0.00080113 -0.00010043
+v -0.01880424 -0.00403733 -0.00056059
+v -0.01880424 -0.00412693 -0.00056179
+v -0.01880424 -0.00451302 -0.00056179
+v -0.02005450 -0.00237014 -0.00147763
+v -0.01880424 -0.00456185 -0.00051688
+v -0.01880424 -0.00490515 -0.00014209
+v -0.01880424 -0.00514174 0.00035733
+v -0.01933269 -0.00511758 0.00038053
+v -0.01965871 -0.00503150 0.00069761
+v -0.02019655 -0.00454675 0.00134249
+v -0.02035173 -0.00446520 0.00134249
+v -0.02043120 -0.00434489 0.00134249
+v -0.02062425 -0.00393917 0.00134250
+v -0.01905954 -0.00509643 0.00092695
+v -0.02059484 -0.00340207 0.00134250
+v -0.01880424 -0.00000077 0.00134251
+v -0.01890717 -0.00000077 -0.00005432
+v -0.01880424 -0.00007577 0.00002480
+v -0.01880424 -0.00513570 0.00070326
+v -0.01883333 -0.00513419 0.00069761
+v -0.01972692 -0.00468065 0.00134249
+v -0.01880424 -0.00513318 0.00073479
+v -0.01880424 -0.00513268 0.00074015
+v -0.01880424 -0.00500230 0.00099982
+v -0.01880424 -0.00483015 0.00134249
+v -0.01880424 -0.00000077 0.00007864
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 9 10
+f 1 10 2
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+f 9 40 59
+f 9 59 69
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+f 12 26 13
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+f 13 28 14
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+f 21 40 22
+f 26 41 27
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+f 30 46 31
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+f 32 66 65
+f 32 65 62
+f 32 62 50
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+f 33 50 51
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+f 34 52 35
+f 35 52 37
+f 37 52 38
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+f 38 55 56
+f 38 56 39
+f 38 52 57
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+f 39 56 58
+f 39 58 40
+f 40 58 56
+f 40 56 55
+f 40 55 54
+f 40 54 53
+f 40 53 64
+f 40 64 68
+f 40 68 59
+f 42 60 61
+f 42 61 43
+f 50 62 51
+f 51 57 52
+f 51 62 63
+f 51 63 57
+f 53 57 64
+f 57 63 65
+f 57 65 66
+f 57 66 67
+f 57 67 68
+f 57 68 64
+f 60 69 61
+f 62 65 63
+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_15.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfa5518c34af00bc25e471d0007970c6e94d325a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_15.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.01895559 0.00459548 0.00285635
+v -0.01895559 0.00476675 0.00240249
+v -0.01951277 0.00454228 0.00285635
+v -0.01895559 0.00058163 0.00285633
+v -0.02056071 0.00461228 0.00158310
+v -0.01973436 0.00469115 0.00240249
+v -0.01973436 0.00452081 0.00285635
+v -0.01895559 0.00455814 0.00171768
+v -0.02079362 0.00440742 0.00020821
+v -0.01933961 0.00101657 0.00285633
+v -0.01895559 0.00003283 0.00270107
+v -0.02138764 0.00438549 0.00023660
+v -0.02143462 0.00443589 0.00070938
+v -0.02119882 0.00442934 0.00158310
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+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_16.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4065147838ee9b1a7a608d44d208eb59ba92e6d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_16.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02045493 0.00268636 -0.00147385
+v -0.02045493 0.00268636 -0.00047385
+v -0.02045493 0.00514779 -0.00147385
+v -0.02045493 0.00514779 -0.00047385
+v -0.01895874 0.00268636 -0.00147385
+v -0.01895874 0.00268636 -0.00047385
+v -0.01895874 0.00514779 -0.00147385
+v -0.01895874 0.00514779 -0.00047385
+f 2 4 1
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+f 3 5 1
+f 2 8 4
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+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_17.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a562b7151d42850cd7d979fe60b9c450ad15dfc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_17.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_18.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e592106b4d7a0c2432c27706fad4d44a9f30d90
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01170951 -0.00484726 -0.00259572
+v -0.01170951 -0.00484726 -0.00159572
+v -0.01170951 -0.00194231 -0.00259572
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+v -0.00529210 -0.00484726 -0.00159572
+v -0.00529210 -0.00194231 -0.00259572
+v -0.00529210 -0.00194231 -0.00159572
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+f 6 8 2
+f 4 8 3
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+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_19.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83016d934800da3c7bfa9d8e136a01d52939cba4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_19.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v -0.00529342 -0.00000076 0.00091172
+v -0.00529342 -0.00200299 0.00053680
+v -0.00529342 -0.00000076 -0.00125782
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_2.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1a33161ff416c2ca0cbfbe065c2568e3cbf805
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_2.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_20.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..051cb49517339f64d4aa2b5facc2531823f4e6f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01770020 -0.00188348 -0.00264035
+v -0.01770020 -0.00188348 -0.00164035
+v -0.01770020 -0.00000094 -0.00264035
+v -0.01770020 -0.00000094 -0.00164035
+v -0.01188232 -0.00188348 -0.00264035
+v -0.01188232 -0.00188348 -0.00164035
+v -0.01188232 -0.00000094 -0.00264035
+v -0.01188232 -0.00000094 -0.00164035
+f 2 4 1
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+f 1 4 3
+f 3 5 1
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+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_21.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0759068b2770bfcee32c257dba3e0a852174e70f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02063370 -0.00269711 -0.00271672
+v -0.02063370 -0.00269711 -0.00171672
+v -0.02063370 -0.00000075 -0.00271672
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+v -0.01770020 -0.00269711 -0.00271672
+v -0.01770020 -0.00269711 -0.00171672
+v -0.01770020 -0.00000075 -0.00271672
+v -0.01770020 -0.00000075 -0.00171672
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_3.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db6bc542fe8899e45871856793096f6b7ec13bec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_3.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_4.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f8c8963049f017e3f602c6b95d82ff736cb4c4f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_4.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v -0.00987130 0.00047911 0.00508931
+v -0.00973456 -0.00236995 0.00508930
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_5.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9affa4ca475233bd5a0704246f90a3c2145778b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_6.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d32b4fee72cfb459b8ad4fccc609a0166185afa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_6.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_7.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba4569271a0a7ba66a256b8a8e4109a5eb65069d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_7.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_8.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55bd0ea48eff19d987fe64ade4dea8c6b4a9e94d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_8.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_9.obj b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d655727366490822b5fa644251c99d16d849e8cb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/mesh/nail_clipper_023_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/nail_clipper_023.xml b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/nail_clipper_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e84dc429b64b7edbcb5ca16002d9ed7833c4c04c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/mjcf/nail_clipper_023.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_023">
+  <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_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_023_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_023_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_023_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_023_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_023_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_023_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_023_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_023_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_023_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_023_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_023_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_023_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/nail_clipper_023_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/nail_clipper_023_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/nail_clipper_023_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/nail_clipper_023_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/nail_clipper_023_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/nail_clipper_023_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_023">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/nail_clipper_023.urdf b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/nail_clipper_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0102bc6a657914ba5fe595666aa5b52f48a7898b
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+++ b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/nail_clipper_023.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_023">
+   <link name="nail_clipper_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0275" />
+         <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>b03f4b0995d7546f955b2072987bdfe5</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>silver clipper</name>
+         <color>silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small silver metal nail clipper with folding lever</description>
+         <min_height>0.0204</min_height>
+         <max_height>0.0204</max_height>
+         <real_height>0.0204</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123407</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021974 -0.005229 -0.005671</min>
+            <max>0.028026 0.006028 0.014724</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/b03f4b0995d7546f955b2072987bdfe5/nail_clipper_023.usd b/dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/nail_clipper_023.usd
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