diff --git a/.gitattributes b/.gitattributes
index 0dd1682f5fbad067cc647682cf83878100522b7a..13c920491822d81c56c5dfa5c579bd1ece8d6c45 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2593,7 +2593,5 @@ dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/to
 dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/toothpaste_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/mesh/toothbrush_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/toothbrush_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/mesh/toothpaste_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/toothpaste_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798/mesh/mouthwash_cup_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798/mouthwash_cup_040.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
diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/hair_clip_009.urdf b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/hair_clip_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0cdab3f56ce920b28453b6ed8df63e774acd66a4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/hair_clip_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hair_clip_009">
+   <link name="hair_clip_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hair_clip_009.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/hair_clip_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</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>af2edb7a9aae5419af21257e177a58aa</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>hair_clip</category>
+         <name>pearl hair clip</name>
+         <color>golden</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>curved golden hair clip with white pearl decorations</description>
+         <min_height>0.0110</min_height>
+         <max_height>0.0110</max_height>
+         <real_height>0.0110</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420195506</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/hair_clip_009.usd b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/hair_clip_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ad255ea0add22ddc26004a72ec3c28919c2713b1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/hair_clip_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de1dd6ceed18ad8462b7e63b69ac549d36a69620e2eb696da398679969088370
+size 5053386
diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.glb b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..74fdf18cadaa4ce2badbb2c738201f00ccd2d74e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a83fd1d963ab58318481c9281554eb46b1ef70489e8dcb881dffe229bcac424
+size 14616472
diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.mtl b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc68a50dafa04b7140729d703fc46c558e849203
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.mtl
@@ -0,0 +1,6 @@
+newmtl hair_clip_009_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af071423ff1a3384260bceb893e402bbb7c8433e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.obj
@@ -0,0 +1,124326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hair_clip_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009_collision.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e9f113044ee31547ef06bc7daefa226ed2a8c89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009_collision.obj
@@ -0,0 +1,4036 @@
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..524baf31911c06799a894ea88c5de16669cbc9e5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11060347
diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9ca402acbbc09578c9d3907ae84b675e31d48ca1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hair_clip_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
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+Ns 1.00000000
+map_Kd hair_clip_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..524baf31911c06799a894ea88c5de16669cbc9e5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dda0e65d18daf4555d9206d350830acbbe9f98c6436e57ea12995d11421f0aa
+size 11060347
diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/hair_clip_009.xml b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/hair_clip_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fecc52396be98604b0fcb774d08ba899ff5ce367
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/hair_clip_009.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/hair_clip_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hair_clip_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hair_clip_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hair_clip_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/hair_clip_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/hair_clip_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/hair_clip_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/hair_clip_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/hair_clip_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/hair_clip_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/hair_clip_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hair_clip_009">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f4176624416fb050ffdcf0a308d3fc669df554
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009.obj
@@ -0,0 +1,124326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hair_clip_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3181ea40738ccc2aafacefb4530ddb1e7484d7f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision.obj
@@ -0,0 +1,4036 @@
+# https://github.com/mikedh/trimesh
+
+o hair_clip_009_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_0.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f80a7449e472b914da19742aed05e84326fe339
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_0.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_1.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..599ee77177afa7556cc920c7cedd0d59f0f0a8e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_10.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e686a0b016026bc7d8ee57614fe1fd1574c62066
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_10.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_2.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e08db9bbcc0a67650ee05f8cfd08e32145a5fe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_2.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_3.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7600430bc37f50122ef00eb7f52432f5891a74e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_3.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_4.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7974e685fb136bcc871a26349fb9f89fec7b033
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_4.obj
@@ -0,0 +1,1048 @@
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_5.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742caeca8dd7b1b701ea9aff7448c9076d12784b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_5.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_6.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bd737734e8929ec09db32749abce59867ea12a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_6.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_7.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c33efdadc06084bd68b9af786d495d9cde83f2f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_7.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_8.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aab0682ad3a2f0de722142afa2ac00ad15f5013
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_8.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_9.obj b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c04e5bb30bd14720a69476d7cb6bc3fed3a9848
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mjcf/mesh/hair_clip_009_collision_9.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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