diff --git a/.gitattributes b/.gitattributes
index c3becc95f23a85bdfdf3c93af2146f6ab5d4abc4..9f9c0a2d330603c9c84d44bc0b58b1d9ade681b9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2595,9 +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/af2edb7a9aae5419af21257e177a58aa/hair_clip_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67/mesh/mouthwash_cup_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67/mouthwash_cup_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/comb_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/comb_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/bcb1831ce14056fc919370c1c9559530/mesh/razor_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/bcb1831ce14056fc919370c1c9559530/razor_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/nail_clipper_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c7226de827be900500a0ac57458ae94606b4300
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_004_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/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/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004.glb b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b4cac2dd564b77ccf97e265c777766123fa3da4e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004.mtl b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fe5acc6d66cdc4781e1890fc249892462c555f39
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004.mtl
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+newmtl nail_clipper_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a21f68da7fb361ce95751ca04aca876acc55285
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004.obj
@@ -0,0 +1,109228 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004_collision.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f476423827aa3b928d7a27bd6bc499474cd4e1e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/nail_clipper_004_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd1c2f941d62ceaecff433e9d86d4b6cf316ebd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision.obj
@@ -0,0 +1,5463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_0.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3fca4391e48cce0c10f319420fdb65ad1dad42
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_1.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17dbc46234e2c015940143d86722657b8770585b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_1.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_10.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17f8aa52d14eb38ff9f161253872d33756bbe5cd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_10.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_11.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f8161c85b19b6fb6cfd39261c4d17a563b23721
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_12.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a45355ae6147f73d95ee09ad01cfe95e5db47110
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_12.obj
@@ -0,0 +1,730 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_13.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2599a2ec339697e47071785b05697fed1e163b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00027688 0.00228967 -0.00367582
+v 0.00027688 0.00228967 -0.00267582
+v 0.00027688 0.03193230 -0.00367582
+v 0.00027688 0.03193230 -0.00267582
+v 0.00567628 0.00228967 -0.00367582
+v 0.00567628 0.00228967 -0.00267582
+v 0.00567628 0.03193230 -0.00367582
+v 0.00567628 0.03193230 -0.00267582
+f 2 4 1
+f 5 2 1
+f 1 4 3
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+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/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_14.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1f305a2c7d53adebb7de79eb6fab1df7a479e46
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_14.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.00023509 0.03442767 -0.00509137
+v 0.00023509 0.03435877 -0.00489879
+v 0.00023509 0.03427928 -0.00606817
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+
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_15.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2470dafda9d4a4b11a960b778925d376e7b728b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_15.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.00047647 0.03442847 -0.00509133
+v 0.00023509 0.03442799 -0.00509133
+v 0.00023509 0.03435861 -0.00489907
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_2.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f87f2db3ea07c88333262b5246d594a64b8b669f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_3.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77aca17d258de190d65dbe671a18aa4ec678bbb3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_3.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_4.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab041578a9e175dea893ef4e132aa772536966e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_4.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_5.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6137ce91d7bf4a33902d21233d5a18b1ad353889
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_5.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_6.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcdd4ddb4d01ccfd9831b2f55d992cfbc977726e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_7.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c01cd2ddffb7b340830c39f0be556110d491e26
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_7.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00601519 -0.01659913 0.00272371
+v -0.00522116 -0.01659914 0.00467789
+v -0.00528354 -0.01585673 0.00467789
+v -0.00505442 -0.01384510 0.00558434
+v -0.00504859 -0.01337446 0.00566804
+v -0.00519842 -0.01337446 0.00522414
+v -0.00535816 -0.01337446 0.00467790
+v -0.00583738 -0.01536557 0.00272371
+v -0.00005937 -0.01659913 0.00272371
+v -0.00514129 -0.01659914 0.00486257
+v -0.00502994 -0.01485107 0.00547760
+v -0.00468714 -0.01337446 0.00607331
+v -0.00548234 -0.01337445 0.00272372
+v -0.00557678 -0.01384509 0.00272372
+v -0.00565257 -0.01423996 0.00272372
+v -0.00005937 -0.01337445 0.00272372
+v -0.00005937 -0.01659914 0.00558399
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+v -0.00188879 -0.01337446 0.00614650
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+
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_8.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0e3919352bc0a9431f7d8b9a24a29394431054
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_8.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00548239 -0.01337445 0.00272380
+v -0.00535846 -0.01337446 0.00467830
+v -0.00530594 -0.00982099 0.00565492
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+v -0.00011800 -0.01062771 0.00272381
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+v -0.00332351 -0.01183275 0.00650323
+v -0.00142405 -0.00979930 0.00698965
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+
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_9.obj b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..441b1ad877fb6886f66208b1c2ee5a7156d894f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/mesh/nail_clipper_004_collision_9.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00005879 -0.01659913 0.00272371
+v -0.00005879 -0.01659914 0.00558373
+v -0.00005879 -0.01337445 0.00272372
+v 0.00589269 -0.01659913 0.00272371
+v -0.00005879 -0.01337446 0.00438599
+v 0.00167801 -0.01659914 0.00562068
+v 0.00237715 -0.01337446 0.00615306
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+v 0.00189066 -0.01337446 0.00611410
+v 0.00543009 -0.01337445 0.00272372
+v 0.00581987 -0.01585672 0.00272371
+v 0.00533687 -0.01337446 0.00467787
+v 0.00533629 -0.01384510 0.00467787
+v 0.00531182 -0.01485107 0.00467787
+v 0.00524948 -0.01585673 0.00467786
+v 0.00517083 -0.01659914 0.00467786
+v 0.00262593 -0.01659914 0.00554511
+v 0.00427650 -0.01337446 0.00607783
+v 0.00363445 -0.01337446 0.00612653
+v 0.00305183 -0.01337446 0.00615474
+v 0.00552914 -0.01384509 0.00272372
+v 0.00568936 -0.01485106 0.00272372
+v 0.00503391 -0.01337446 0.00563446
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+v 0.00494943 -0.01585673 0.00534560
+v 0.00487602 -0.01659914 0.00527103
+v 0.00427650 -0.01659914 0.00540337
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+
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/nail_clipper_004.xml b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/nail_clipper_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..66372d7cb21a468fbcbaf91473c6a5c6eb1d2ddd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mjcf/nail_clipper_004.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_004">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/nail_clipper_004.urdf b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/nail_clipper_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..38616c9a08e68ac0e14b7e29fbdba0ff95a900c7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/nail_clipper_004.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_004">
+   <link name="nail_clipper_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</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>bb0ff85514f85f209192d2927da8e8b6</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>black nail clipper</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact black nail clipper with curved cutting edges</description>
+         <min_height>0.0220</min_height>
+         <max_height>0.0220</max_height>
+         <real_height>0.0220</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416201552</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/nail_clipper_004.usd b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/nail_clipper_004.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/nail_clipper_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7251ac47cb9b1095ff858bdcc7398a5123d83512197b3018c536613c94b79a2e
+size 4769178
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/textures/material_0.png b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5695245
diff --git a/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/video.mp4 b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 123355