diff --git a/.gitattributes b/.gitattributes
index 42765ce782b5921e2cfc3d401f6b29856146042f..1f9ab6e59e054ee1b85175fb196cbeaf9a84e6c1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2487,5 +2487,5 @@ dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/comb_01
 dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/mesh/comb_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be/mesh/mouthwash_cup_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be/mouthwash_cup_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/317b3184b9ff5eec9ed95941ea7de7d0/comb_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/317b3184b9ff5eec9ed95941ea7de7d0/mesh/comb_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/nail_clipper_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fff4a80c68b78ce1d7760e915b797963ecd0a421
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_014_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f08fc3c36ff2f7398eb6fd31d8e57f61b5340eb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/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/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.glb b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..93aae1ba95157a60ddc3f7f930d0ec8440bc746a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.glb
@@ -0,0 +1,3 @@
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+size 12539296
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.mtl b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d980ed1a8ecf3800c87393c73334861d7c51887
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.mtl
@@ -0,0 +1,6 @@
+newmtl nail_clipper_014_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db251f21bc9291b87d9651724b622d5e8a18fdc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014.obj
@@ -0,0 +1,110472 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_014_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014_collision.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dfe8ef78b882219b5c21d6508fcecc8c9a8e267
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/nail_clipper_014_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014.obj
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1ef56219197bfb022d3eb21d28a1f5a84a2925a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision.obj
@@ -0,0 +1,8746 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_0.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..549800f0f14e69c0ec1fbe2d4d500243fbbc1d20
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_1.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0e459ec51450b8d6497a269fef616e2ca3d5e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_1.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_10.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e18c9a7155c177ed5d437193dd834abdbdd3db24
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_10.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_11.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ce6f269f855dde4955376d8d4f3c527145a480
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_11.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_12.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63186bad901634c09b6fc6428a3d99a6190e8522
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_12.obj
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_13.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a5309d744e4b44e300d03818d9e3e0b949c2ab2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_13.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_14.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f4ab673b526f822de152de0a4dc42ec89790131
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_14.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.01306707 0.00074464 0.00226451
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+
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_15.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..104c24844a645d1b631f4bae7e5c08082d631e89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_15.obj
@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
+v 0.00794068 0.00446058 -0.01017109
+v 0.01108670 0.00446058 -0.01016823
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+
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_16.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1805ba0fc8628af9a2eebc6431d2ebb93dacef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_17.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2eba1a9df7fe444e2ff2bf6db8230f0abe1e618
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_17.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_18.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b87fc7461a63cd13cc4be1f87d448ab0799a8f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_18.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_19.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd77df801652165e6388e702cf15674700cb957e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_19.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_2.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e4170a45089a52e776827340a180a0e62c76c11
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_2.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_20.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420cb12752b01643cc9a74f536e22fb5d2af0324
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_20.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_21.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd551cbe3f061eb534d59f1e334dd393aded929d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_21.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_22.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2970f1261624ab10309c20a365e975049616c24b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_22.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_23.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bda78cfd98764e890dfd9225afac1509f8c2e97
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_23.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_24.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bde4e47fde0e2c955c1c058c6d119f57112e63e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_24.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_25.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96632b48eba5a59a64266c68656c903c0503b9c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_25.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_3.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ac5b05d0a0bcb3167892734cff2bec86f29030
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_3.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_4.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b0d437d8ffe862b854243f03fdbdb979d259f61
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_4.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_5.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69640e8a7fa145728f1a017d5404ce498b425f5c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_5.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_6.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5bebc72c8a89c0d40736d59ff544474c125ba77
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_6.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_7.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3721eb5e91a7074f7e124496c74647007e0cdb0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_7.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_8.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0acea6a39553ff694b20b3bcd233db45cf8ac85
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_8.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_9.obj b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e91cc883bbbe272581e780b3ba5fbee1842967
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/mesh/nail_clipper_014_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/nail_clipper_014.xml b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/nail_clipper_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ccd6fcf10ea4d50100bcdd77a18a821e7f673e7c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mjcf/nail_clipper_014.xml
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/nail_clipper_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/nail_clipper_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/nail_clipper_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/nail_clipper_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/nail_clipper_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/nail_clipper_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/nail_clipper_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/nail_clipper_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/nail_clipper_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/nail_clipper_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_014">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/nail_clipper_014.urdf b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/nail_clipper_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7f7eb923b8f2f60115b978b36536d22f4d2ebc98
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/nail_clipper_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_014">
+   <link name="nail_clipper_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_014.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_014_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>32067f8adf675933af3ca6b18e05ee2e</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>blue nail clipper</name>
+         <color>blue,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact blue-handled metal nail clipper with folding lever</description>
+         <min_height>0.0309</min_height>
+         <max_height>0.0309</max_height>
+         <real_height>0.0309</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154649</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033744 -0.007502 -0.009931</min>
+            <max>0.029664 0.007498 0.020956</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/32067f8adf675933af3ca6b18e05ee2e/nail_clipper_014.usd b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/nail_clipper_014.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/nail_clipper_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:027fe1d89a153e3758faac85200e9963528446ff77bbb211820ba925deb404d1
+size 4925386
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/textures/material_0.png b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca84296a41ab8209777d4da9a4bb3e3729139e5748959a4ca40f89c7763d7448
+size 9186260
diff --git a/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/video.mp4 b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5794454a9f53ccb1f63cde5484575f8e75922803
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a46c3dd873b4940005c2b339d060ec70cfb1975fc3232cd11d9a1d2d64dedbf
+size 229751