diff --git a/.gitattributes b/.gitattributes
index 463180321e535d1cfde2820773265acb62f71cdf..cf6550a458ce46ecf4c19cfc23d85abb6bc23f83 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2565,3 +2565,5 @@ dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/to
 dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/toothpaste_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/mesh/toothpaste_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/toothpaste_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/nail_clipper_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd98aa1797d1133e9909f40be57a333dc300d764
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_040_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc105213700d2d972debac76b1c02363ede1a238
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8841f3e4066551d96f2102cfc54be05be99d7ccfc403ced3ea92580d2142e491
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.glb b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6d85eef9dfd1f41f59e6b2ef9cb4541ffc4bd687
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.glb
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+version https://git-lfs.github.com/spec/v1
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+size 11864608
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.mtl b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..563b8284e02bd6e2907f1e9c9eb8249db7ad944b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.mtl
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+newmtl nail_clipper_040_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
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95aa17de1b21376aa67995827ac4dca75ded44ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.obj
@@ -0,0 +1,109368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_040_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040_collision.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f20deaa73a99c4df2fcb445e502fad0ead9bf10d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040_collision.obj
@@ -0,0 +1,6916 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101055fd799c06db2bfc3434b70e421f71ca0a36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision.obj
@@ -0,0 +1,6916 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_0.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6974d81a5d38f5ceaf07cfd508ae894febd7f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_1.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c359ff549d43144c54407b092e859cbebbc055
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_1.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_10.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6d2ea8b595a5c8221e38772cac1147628d65dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_10.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_11.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f2eb72171da6a91e46fd95755ac2797802c441
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_11.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_12.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63631fd1f1d7b967b3b66c0493d1073c39e0c515
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_12.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_13.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0569e3aa94369579590edb26793b8b9e58f5f19d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_13.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_14.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eebc1df753d72b669fa7bdb211df3f5fc62ab5e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_14.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_15.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ad3a757dcee3b1e68d01c4927c7c87fb4848c7e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_15.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_16.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de90e9acb518b93d079a75d7ad7f5f459c32722f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_16.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+v 0.01993223 -0.00524504 -0.00584234
+v 0.01956154 -0.00524981 -0.00539275
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+
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_17.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa917b96e9b5c7bd893c2c30f0ff713c64df584d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_17.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_18.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d36d054388a7d8436386f6806cd21436bed58aba
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_18.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+f 32 44 33
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+
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_19.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd152d7324280533563f5bcc39d16ef50812f79
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_19.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02442592 -0.00476645 -0.00319580
+v -0.02428511 -0.00486823 -0.00329171
+v -0.02360199 -0.00544516 -0.00329171
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+v -0.02442592 -0.00449914 -0.00319580
+v -0.02434577 -0.00440058 -0.00329171
+v -0.02311557 -0.00547462 -0.00329171
+v -0.02311557 -0.00545158 -0.00288787
+v -0.02309425 -0.00500965 -0.00213768
+v -0.02354611 -0.00499518 -0.00213768
+v -0.02400752 -0.00498018 -0.00213768
+v -0.02404392 -0.00425755 -0.00213768
+v -0.02442592 -0.00449914 -0.00272644
+v -0.02275490 -0.00000209 -0.00329169
+v -0.02246922 -0.00544355 -0.00329171
+v -0.02267548 -0.00543391 -0.00295180
+v -0.02297770 -0.00445843 -0.00213768
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+v -0.02067025 -0.00352474 -0.00327521
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+v -0.02251224 -0.00000209 -0.00290524
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+v -0.02067025 -0.00196376 -0.00316970
+v -0.02116990 -0.00000209 -0.00303989
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+v -0.02158352 -0.00000209 -0.00288943
+v -0.02319462 -0.00388150 -0.00213767
+v -0.02067025 -0.00000209 -0.00324391
+v -0.02090335 -0.00000209 -0.00314834
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+f 1 14 6
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+f 29 35 30
+
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_2.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..005b0c08f2f50a53df9f51a5e4bf844ec43384ac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_2.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01302388 0.00348668 0.00527322
+v -0.01302388 0.00315557 0.00525767
+v -0.01302388 0.00401655 0.00519726
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+v -0.01401380 0.00498373 0.00166408
+v -0.01321892 0.00424474 0.00166408
+v -0.01357149 0.00465208 0.00166408
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+f 29 33 30
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+f 30 33 34
+
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_3.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deca79ad5ec9c7302b2fed0f1807c5a48fd12ec3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_3.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01302388 -0.00348185 0.00527480
+v -0.01586223 -0.00344484 0.00422367
+v -0.01302388 -0.00360767 0.00525677
+v -0.01302388 -0.00345964 0.00527409
+v -0.01586223 -0.00026269 0.00422332
+v -0.01586223 -0.00368070 0.00417878
+v -0.01302388 -0.00418499 0.00515957
+v -0.01302388 -0.00275206 0.00523875
+v -0.01302388 -0.00270814 0.00523521
+v -0.01302388 -0.00238050 0.00515392
+v -0.01302388 -0.00026268 0.00385610
+v -0.01586223 -0.00026268 0.00166406
+v -0.01586223 -0.00425604 0.00406213
+v -0.01302388 -0.00445441 0.00506838
+v -0.01302388 -0.00026268 0.00211258
+v -0.01304639 -0.00026268 0.00166406
+v -0.01586223 -0.00530261 0.00166404
+v -0.01586223 -0.00437841 0.00398544
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+v -0.01302388 -0.00472037 0.00481284
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+v -0.01586223 -0.00477217 0.00371647
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+f 35 40 36
+f 36 40 41
+f 38 41 40
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+
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_4.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60972f47f7ccd7d63b2ac7048c1198baf1669ffa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_4.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
+v 0.01910327 0.00527884 -0.00584225
+v 0.01910327 0.00524165 -0.00665560
+v 0.01827627 0.00527780 -0.00584225
+v 0.01910327 0.00526128 -0.00502823
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_5.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3d818919eb3f724d84a5d735b78131ce891fc4e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_6.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83cae1b4f9cb3d9920215eee73c791ca47e1bef7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_6.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_7.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f0a7ea65700b92f2ba8ca3a085b5cac2726a479
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_7.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_8.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0400be1474682055d90bac6b0bd4d95b698043f4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_9.obj b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb3859c5f26765a5d0aac97b8aa8ca25620c0983
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/mesh/nail_clipper_040_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/nail_clipper_040.xml b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/nail_clipper_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9184e2fcdffb9f2079ee2f923c35413ee15f2d67
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mjcf/nail_clipper_040.xml
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/nail_clipper_040.urdf b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/nail_clipper_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d2a539f4d88f33a7d183448558c596729e5d7869
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/nail_clipper_040.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_040">
+   <link name="nail_clipper_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>9afe2aefe58758f78e01cefdaa7fc2e9</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>silver nail clipper</name>
+         <color>silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small silver metal nail clipper with folding lever</description>
+         <min_height>0.0246</min_height>
+         <max_height>0.0246</max_height>
+         <real_height>0.0246</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123920</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024519 -0.005493 -0.007864</min>
+            <max>0.025481 0.005498 0.016729</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/9afe2aefe58758f78e01cefdaa7fc2e9/nail_clipper_040.usd b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/nail_clipper_040.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/nail_clipper_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22df9ee3dbd4914ae43df6f290246de4926d028a6bc7d6c5260b2b6f443491d8
+size 4768301
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/textures/material_0.png b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/textures/material_0.png
@@ -0,0 +1,3 @@
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+size 8756587
diff --git a/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/video.mp4 b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/video.mp4
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f233108f439c3ba2a04c969aa65607988f1a1ae5f190e78857cc58310ac99216
+size 230166