diff --git a/.gitattributes b/.gitattributes
index 5ddafa050060c9221fb42ffb024981c02c94fd87..56dc287d6c547bb762c67293bc82a327d03a5b72 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2461,5 +2461,5 @@ dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/comb_01
 dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/mesh/comb_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/mesh/toothpaste_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/toothpaste_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/mesh/razor_032.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/razor_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/nail_clipper_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c68662c769ba6b9d4f789dba8b9ba44bdf8cdd78
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/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/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013.glb b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013.glb
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013.glb
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013.mtl b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7dbcfdad748c78f123f671ab49112f184fa09e82
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013.mtl
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+newmtl nail_clipper_013_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b2e25a339103c3c11e16f3bbd13d52c8e58791b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013_collision.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51cbbc5d55b500b07ea375c6803ec64896c15b4f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013_collision.obj
@@ -0,0 +1,5947 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mesh/nail_clipper_013_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac46e10c769584735e9431e82809002512cbe4fa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision.obj
@@ -0,0 +1,5947 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_0.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_0.obj
new file mode 100644
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--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_1.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..944880815d901a5d7ed0185b6415baa48cf46ae6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_1.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_10.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a9122758565b238c7383b69dfc8301a7af5ebb1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_10.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v -0.02135585 -0.00040225 -0.00432284
+v -0.02135585 -0.00023441 -0.00867399
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+v -0.02963857 -0.00504397 -0.00482286
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+v -0.02925761 -0.00567541 -0.00432286
+v -0.02799648 -0.00665927 -0.00432286
+v -0.02135585 -0.00667815 -0.00577448
+v -0.02135585 -0.00564393 -0.00893680
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+v -0.02575256 -0.00564393 -0.00894238
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+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_11.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6abf743d80d5e06ae5734935a1044708237522d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_11.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02575595 -0.00739235 -0.00104702
+v -0.02575249 -0.00739305 -0.00104461
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+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_12.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69aebd8218d804d0fafe5b848c41569ac33afaaa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_12.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+f 45 64 46
+f 45 50 63
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+f 78 80 82
+f 80 83 82
+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_13.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655984991aa93e2a6d008f605d0cc97136dace38
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_13.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.02497024 0.00759110 0.00004862
+v -0.02497024 0.00755433 -0.00056877
+v -0.02497024 0.00755509 0.00024556
+v -0.02495217 0.00755050 0.00026832
+v -0.02464916 0.00753824 0.00026832
+v -0.02464916 0.00757578 0.00004862
+v -0.02043302 0.00743636 -0.00043293
+v -0.02043302 0.00743636 -0.00068832
+v -0.02134207 0.00745781 -0.00082512
+v -0.02244577 0.00748309 -0.00086321
+v -0.02497024 0.00752982 -0.00081338
+v -0.02354746 0.00750454 -0.00084836
+v -0.02464916 0.00752445 -0.00082105
+v -0.02497024 0.00755050 0.00026832
+v -0.02360365 0.00748309 0.00026832
+v -0.02284712 0.00743636 0.00026832
+v -0.00447150 0.00646967 -0.00146121
+v -0.00447150 0.00650950 -0.00165407
+v -0.00447150 0.00660679 -0.00213778
+v -0.00481063 0.00662594 -0.00213778
+v -0.00475444 0.00661981 -0.00217899
+v -0.00591233 0.00667343 -0.00213778
+v -0.02134207 0.00734828 -0.00137160
+v -0.00585413 0.00666500 -0.00217899
+v -0.02244577 0.00729390 -0.00140969
+v -0.02354746 0.00715142 -0.00139484
+v -0.02497024 0.00705949 -0.00121683
+v -0.02497024 -0.00023444 0.00026829
+v -0.02224510 0.00738428 0.00026832
+v -0.00971709 0.00638234 -0.00049068
+v -0.00447150 0.00603074 -0.00117827
+v -0.02164509 0.00732070 0.00026832
+v -0.01803498 0.00693156 0.00026832
+v -0.00447150 0.00660372 -0.00217899
+v -0.01451116 0.00667803 -0.00217899
+v -0.00695382 0.00669105 -0.00217899
+v -0.00805351 0.00670101 -0.00217899
+v -0.00915319 0.00670330 -0.00217899
+v -0.01025288 0.00669871 -0.00217899
+v -0.01553459 0.00665428 -0.00217899
+v -0.01655602 0.00660908 -0.00217899
+v -0.01757544 0.00655010 -0.00217899
+v -0.01859084 0.00647657 -0.00217899
+v -0.01960223 0.00637775 -0.00217899
+v -0.02244577 0.00677148 -0.00171181
+v -0.02354746 0.00662900 -0.00165048
+v -0.02497024 0.00686645 -0.00136010
+v -0.01352786 -0.00023444 0.00026829
+v -0.02497024 -0.00023443 -0.00217901
+v -0.00743142 0.00538270 -0.00048277
+v -0.00447150 0.00585073 -0.00107189
+v -0.01689716 0.00673010 0.00026831
+v -0.01620283 0.00652711 0.00026831
+v -0.01548041 0.00628812 0.00026831
+v -0.00447150 -0.00023443 -0.00217901
+v -0.02068386 0.00618701 -0.00217899
+v -0.02425985 0.00647733 -0.00160975
+v -0.02497024 0.00192801 -0.00217900
+v -0.00447150 -0.00023444 -0.00087498
+v -0.00447150 0.00062655 -0.00083282
+v -0.00447150 0.00167139 -0.00078633
+v -0.00447150 0.00271622 -0.00075566
+v -0.00447150 0.00376106 -0.00075303
+v -0.01352786 0.00062655 0.00026829
+v -0.00811772 0.00480589 -0.00037376
+v -0.00728092 0.00480589 -0.00046600
+v -0.00672907 0.00480589 -0.00052829
+v -0.00447150 0.00480589 -0.00078632
+v -0.01446501 0.00578332 0.00026831
+v -0.00663074 0.00376106 -0.00051608
+v -0.01357402 0.00175335 0.00026830
+v -0.00921942 0.00480589 -0.00025469
+v -0.01419209 0.00525247 0.00026831
+v -0.01408373 0.00480589 0.00026831
+f 1 2 11
+f 1 11 27
+f 1 27 47
+f 1 47 58
+f 1 58 49
+f 1 49 28
+f 1 28 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
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+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
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+f 5 15 7
+f 5 7 6
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+f 9 22 24
+f 9 24 23
+f 10 23 12
+f 11 13 23
+f 11 23 25
+f 11 25 26
+f 11 26 27
+f 12 23 13
+f 16 29 17
+f 17 30 31
+f 17 31 51
+f 17 51 68
+f 17 68 63
+f 17 63 62
+f 17 62 61
+f 17 61 60
+f 17 60 59
+f 17 59 55
+f 17 55 34
+f 17 34 19
+f 17 19 18
+f 17 29 32
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+f 17 33 30
+f 19 34 21
+f 19 21 20
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+f 21 55 49
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+f 21 58 56
+f 21 56 44
+f 21 44 43
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+f 21 42 41
+f 21 41 40
+f 21 40 35
+f 21 35 39
+f 21 39 38
+f 21 38 37
+f 21 37 36
+f 21 36 24
+f 21 24 22
+f 23 35 25
+f 23 24 36
+f 23 36 37
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+f 23 38 39
+f 23 39 35
+f 25 35 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 46 47
+f 26 47 27
+f 26 45 46
+f 28 49 55
+f 28 55 59
+f 28 59 48
+f 30 50 51
+f 30 51 31
+f 30 33 52
+f 30 52 53
+f 30 53 54
+f 30 54 50
+f 44 56 45
+f 45 56 46
+f 46 57 47
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+f 47 57 58
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 48 63 64
+f 50 65 66
+f 50 66 67
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+f 50 68 51
+f 50 54 69
+f 50 69 65
+f 56 58 57
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+f 63 71 64
+f 65 72 70
+f 65 69 73
+f 65 73 72
+f 70 72 71
+f 71 72 74
+f 72 73 74
+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_14.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33f68f33333cea712d18175ab0e1577f56209670
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02497024 -0.00023368 0.00021715
+v -0.02497024 -0.00023368 0.00121715
+v -0.02497024 0.00755047 0.00021715
+v -0.02497024 0.00755047 0.00121715
+v -0.01341743 -0.00023368 0.00021715
+v -0.01341743 -0.00023368 0.00121715
+v -0.01341743 0.00755047 0.00021715
+v -0.01341743 0.00755047 0.00121715
+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/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_15.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb0df7cdc9270eb811186bf010b271661a4ec5f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_15.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.02977146 0.00596421 -0.00243425
+v -0.02975877 0.00658347 -0.00243425
+v -0.02968686 0.00648466 -0.00289795
+v -0.02968686 0.00618144 -0.00289795
+v -0.02944389 0.00575905 -0.00415355
+v -0.02840008 -0.00023442 -0.00415357
+v -0.02843204 -0.00023443 -0.00243427
+v -0.02919621 0.00709713 -0.00243424
+v -0.02908577 0.00692818 -0.00415354
+v -0.02497024 -0.00023442 -0.00415357
+v -0.02497024 -0.00023443 -0.00243427
+v -0.02863883 0.00747125 -0.00243424
+v -0.02856457 0.00744183 -0.00279157
+v -0.02792259 0.00695081 -0.00415354
+v -0.02497024 0.00227807 -0.00415356
+v -0.02497024 0.00192657 -0.00243426
+v -0.02858854 0.00747125 -0.00243424
+v -0.02845319 0.00744183 -0.00279157
+v -0.02825063 0.00746522 -0.00243424
+v -0.02775058 0.00690026 -0.00243424
+v -0.02741267 0.00620332 -0.00415355
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 16
+f 1 16 20
+f 1 20 19
+f 1 19 17
+f 1 17 12
+f 1 12 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 5
+f 3 5 4
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+f 5 14 21
+f 5 21 15
+f 5 15 10
+f 5 10 6
+f 6 10 11
+f 6 11 7
+f 8 12 9
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+f 10 16 11
+f 12 17 18
+f 12 18 13
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 15 21 20
+f 15 20 16
+f 17 19 18
+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_16.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b67612583f43571ce704654b069d0d2997c633b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_16.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02575639 -0.00023515 0.00116583
+v -0.02575639 -0.00023513 -0.00432230
+v -0.02697278 -0.00023515 0.00116583
+v -0.02575639 -0.00623335 0.00116581
+v -0.02843857 -0.00023513 -0.00432230
+v -0.02575639 -0.00240887 -0.00432231
+v -0.02738545 -0.00023515 0.00079244
+v -0.02852062 -0.00612354 0.00060652
+v -0.02800998 -0.00572229 0.00082841
+v -0.02713360 -0.00387799 0.00116582
+v -0.02626825 -0.00615944 0.00116581
+v -0.02746668 -0.00723223 0.00061887
+v -0.02575639 -0.00671413 0.00092888
+v -0.02869206 -0.00023514 -0.00191214
+v -0.02925821 -0.00567511 -0.00432232
+v -0.02974681 -0.00564415 -0.00286634
+v -0.02992600 -0.00564415 -0.00213781
+v -0.02575639 -0.00726390 -0.00165214
+v -0.02799651 -0.00665921 -0.00432232
+v -0.02748873 -0.00023515 0.00069573
+v -0.02943659 -0.00564416 -0.00074684
+v -0.02852062 -0.00619745 0.00060652
+v -0.02800875 -0.00023515 0.00004833
+v -0.02847735 -0.00023515 -0.00056200
+v -0.02788303 -0.00660291 0.00071989
+v -0.02685522 -0.00564416 0.00115507
+v -0.02683236 -0.00561389 0.00116581
+v -0.02710544 -0.00484238 0.00116581
+v -0.02681440 -0.00564557 0.00116581
+v -0.02685522 -0.00723223 0.00061887
+v -0.02820142 -0.00689364 0.00033520
+v -0.02857572 -0.00725123 -0.00039387
+v -0.02788303 -0.00730544 0.00000156
+v -0.02685522 -0.00737301 0.00004830
+v -0.02623396 -0.00721885 0.00060275
+v -0.02575639 -0.00718788 0.00053935
+v -0.02869206 -0.00023515 -0.00110894
+v -0.02926760 -0.00593134 -0.00432232
+v -0.02977416 -0.00641073 -0.00289804
+v -0.02985987 -0.00654096 -0.00213781
+v -0.02977946 -0.00642130 -0.00131741
+v -0.02979008 -0.00564416 -0.00129377
+v -0.02968068 -0.00490854 -0.00146838
+v -0.02575639 -0.00739202 -0.00104718
+v -0.02833204 -0.00728783 -0.00285185
+v -0.02900840 -0.00666414 -0.00432232
+v -0.02873696 -0.00660291 0.00000157
+v -0.02865614 -0.00023515 -0.00101223
+v -0.02937169 -0.00706327 -0.00213782
+v -0.02871736 -0.00729840 -0.00104503
+v -0.02795691 -0.00742229 -0.00104503
+v -0.02685522 -0.00742511 -0.00104503
+v -0.02575639 -0.00738850 -0.00098217
+v -0.02575639 -0.00731952 0.00008967
+v -0.02796140 -0.00734414 -0.00212493
+v -0.02871328 -0.00728783 -0.00285185
+v -0.02882023 -0.00732654 -0.00213782
+f 1 2 5
+f 1 5 14
+f 1 14 37
+f 1 37 48
+f 1 48 24
+f 1 24 23
+f 1 23 20
+f 1 20 7
+f 1 7 3
+f 1 3 10
+f 1 10 28
+f 1 28 27
+f 1 27 29
+f 1 29 11
+f 1 11 4
+f 1 4 13
+f 1 13 36
+f 1 36 54
+f 1 54 53
+f 1 53 44
+f 1 44 18
+f 1 18 6
+f 1 6 2
+f 2 6 19
+f 2 19 46
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+f 2 38 15
+f 2 15 5
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+f 4 11 12
+f 4 12 13
+f 5 15 16
+f 5 16 17
+f 5 17 14
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+f 18 44 45
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+f 21 42 41
+f 21 41 22
+f 21 24 42
+f 22 41 47
+f 22 47 32
+f 22 32 31
+f 24 48 42
+f 25 29 26
+f 26 29 27
+f 30 34 35
+f 32 49 50
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+f 32 47 41
+f 32 41 49
+f 33 51 34
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+f 34 53 54
+f 34 54 35
+f 35 54 36
+f 37 43 42
+f 37 42 48
+f 38 46 39
+f 39 46 49
+f 39 49 40
+f 40 49 41
+f 44 52 45
+f 45 52 55
+f 45 55 56
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+f 46 56 49
+f 49 56 57
+f 49 57 50
+f 50 57 51
+f 51 57 56
+f 51 56 55
+f 51 55 52
+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_17.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..332e53273ba28537cb64bac1fe7a7b3496f0737f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_17.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.02981980 0.00584013 -0.00216804
+v -0.02977138 0.00596439 -0.00243408
+v -0.02869238 -0.00023443 -0.00191223
+v -0.02969970 0.00508149 -0.00182341
+v -0.02969970 0.00508149 -0.00138469
+v -0.02981458 0.00585093 -0.00117220
+v -0.02980461 0.00664663 -0.00213773
+v -0.02975904 0.00658334 -0.00243408
+v -0.02843225 -0.00023443 -0.00243410
+v -0.02846832 -0.00023443 -0.00236257
+v -0.02869238 -0.00023444 -0.00110844
+v -0.02865631 -0.00023444 -0.00101189
+v -0.02847734 -0.00023444 -0.00056225
+v -0.02954258 0.00585093 -0.00062601
+v -0.02979322 0.00662578 -0.00123916
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+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_18.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b2d9e2c5cf1c3cd2c4cee2ca9053b3b0487f2e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_18.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+v -0.02133720 -0.00406901 -0.00234574
+v -0.02133720 -0.00023442 -0.00432284
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+v -0.02575595 -0.00194866 -0.00319097
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+f 2 7 5
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+f 4 8 7
+f 4 7 11
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+f 6 10 7
+f 7 10 11
+f 9 11 10
+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_19.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f017c8ab3874cca1ad8c427bbaab88860ac0dbcb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_19.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_2.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12935beaba90bf5e40189fe6f3d7e644dc52db14
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_2.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+v -0.00370644 0.00671251 -0.00651110
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+
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_3.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e89abe1c5daf070856a1d8e90fa91ea2cb1578d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_3.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
+v -0.00446949 0.00660715 -0.00213832
+v -0.00446949 0.00658792 -0.00238450
+v -0.00446949 0.00646999 -0.00146164
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+v -0.00446949 0.00629309 -0.00310214
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_4.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdc2d428c7a1d0d49dbf424d0b05aca635dac3ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_5.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d20d704f3d4e493001d31c12eec3e695d42aa4c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_6.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87221fe80eff5d0a5a5d55c4334f36db782d976f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_7.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79908b45f98f084e77a9677cecd5fe0a1176e0ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_7.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_8.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ad5eeb034c9660e2bb4adbf4a0e208df0c6565a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_8.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_9.obj b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6e12c1fea38c4715fad7a76dda9d7ff21224ac5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/mesh/nail_clipper_013_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/nail_clipper_013.xml b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/nail_clipper_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9a52a5418280ee3d44c34d3da2618751a5328510
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/mjcf/nail_clipper_013.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_013_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_013_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/nail_clipper_013_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/nail_clipper_013_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <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/0688ba311ae6558dbaf9921505b4e31d/nail_clipper_013.urdf b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/nail_clipper_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f4b4030a0255e8065b8dee5bee0809a68c6fac92
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/nail_clipper_013.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_013">
+   <link name="nail_clipper_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_013.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_013_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>0688ba311ae6558dbaf9921505b4e31d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>metal nail clipper</name>
+         <color>silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>silver metal nail clipper with raised lever</description>
+         <min_height>0.0365</min_height>
+         <max_height>0.0365</max_height>
+         <real_height>0.0365</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154623</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.029834 -0.007390 -0.008770</min>
+            <max>0.036802 0.007610 0.027749</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/0688ba311ae6558dbaf9921505b4e31d/nail_clipper_013.usd b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/nail_clipper_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7a4e854ba7bb5cb4cf917f401f50eec97e45ba07
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/nail_clipper_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47d5f643d716b66d032e5252fecaa6914391c8dba25ce9f6de71c02c16fc4a4
+size 4972052
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/textures/material_0.png b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b684fb2573ec154726478b5bc7f6ddebeb83ce11
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd47ec9a80f4245e687b8be9df07ff67e33f98b99fcf5ba902b6697fa25b6e0
+size 10956108
diff --git a/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/video.mp4 b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dfacb3f650e47ede9b15a1267c2eb79213856447
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39d1f8a63549ce517a8fc15880d13c6d979fef3e2d31c3d744a52f3ab6c477ce
+size 267653