diff --git a/.gitattributes b/.gitattributes
index 102d54fa5c34eb4179bd00e901a8b937ff81242f..3a2582fb1833caf14430fbb9e470c6a2a9964f40 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2537,5 +2537,5 @@ dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/mesh/na
 dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/nail_clipper_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/nail_clipper_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/nail_clipper_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/7b62653dd3a855e5b64b6062bad678df/hair_clip_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/7b62653dd3a855e5b64b6062bad678df/mesh/hair_clip_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a963d9618fa55a63d1ab1b9ce83a6bbd0237f84f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_021_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b62a522d8e42082ce7d89994bb950358b03761e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/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/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.glb b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9a583940150b8bfeb77787375528c26fea4740f4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11676668
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.mtl b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3eff89d2724a9f26923b8b477a544c2c669e9977
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.mtl
@@ -0,0 +1,6 @@
+newmtl nail_clipper_021_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a23620beb681c13fc29ecce6472fd0f01e6510b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.obj
@@ -0,0 +1,108396 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_021_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021_collision.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e700fb2c2e1f74a5f0d05b89b6e5fc2ab3ccd7c1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa1bf6f203a6592f0e409644e3a7b179258233c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision.obj
@@ -0,0 +1,7914 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_0.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86bfdf3ec6c2fa4a226c1e366ef498d2b6403277
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_1.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a889c3201e79c32fd93ef8649e51141a56d32b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_1.obj
@@ -0,0 +1,607 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_10.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab802f01123f9f742802fece860396bff61c825e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_10.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_11.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fdfef6ddb6cad60fd7e18b3ec8e1cf27c7979e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_11.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_12.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c78dab54fcd58526c4ae613e24bff29c14e815a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_12.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_13.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45cb24d4461d2f184ce41903a33cc4eee3e89161
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_13.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_14.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d37aae8336384e87560e5082605dcd20fc9410e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_14.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_15.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48fa00cda0f32f247ebb9657b3bd055f3793a344
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_15.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_16.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4fc804fbceb3f4fa7e279396d3fb4b95ac8ab6e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_16.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_17.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6857cc203d599569b301a696cadf4546d7183dd3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_18.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7507a7a15a5ccc25eda962bb2eb397c7a784b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_18.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_19.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bacd76c11128c0e60a63b81e72cb83fa27c18f6e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02213194 -0.00118229 -0.00268605
+v -0.02213194 -0.00118229 -0.00168605
+v -0.02213194 0.00517674 -0.00268605
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+v -0.01870128 0.00517674 -0.00268605
+v -0.01870128 0.00517674 -0.00168605
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+f 4 8 3
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+
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_2.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..481c3278d00ca749feb24135910adb7c4dcd7031
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_2.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_20.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a721cbb8bf3449fb8b2271710c2089504b872474
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02213139 -0.00517338 -0.00268592
+v -0.02213139 -0.00517338 -0.00168592
+v -0.02213139 -0.00118268 -0.00268592
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+
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_21.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6e95efaa223e8b8c56470c3ebba5301a93a242a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_21.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_3.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f3fb176a9e197a4fa251d67ee734ee86f70377
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_3.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_4.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1389dcdc8044dad4d8c09575cc989638949b822
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_4.obj
@@ -0,0 +1,214 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_5.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a222494ba65a12d39fa849b46c8ff83fce089a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_5.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_6.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e2b2a4fac0c03cb3c6166533300b9e0c8824c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_6.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_7.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687a43e49949e184b2a4eaf0f75fc0bbdad53fca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_7.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_8.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29cec760568d626bef3c28789b74be313b5e6428
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_9.obj b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8d5cbe5dc91646515e0ae99bbc8b3730e0df87c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/mesh/nail_clipper_021_collision_9.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/nail_clipper_021.xml b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/nail_clipper_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d93a1283fdfe266532956c22e522554ab574b4c4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mjcf/nail_clipper_021.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_021_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_021_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/nail_clipper_021_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/nail_clipper_021_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/nail_clipper_021_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/nail_clipper_021_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/nail_clipper_021_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/nail_clipper_021_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_021">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.urdf b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f36faefc07732438539d391b5c9dd8d26a839ed1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_021">
+   <link name="nail_clipper_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>7cde81fa467d56d8ac78550de8eb1ca9</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 raised lever</description>
+         <min_height>0.0253</min_height>
+         <max_height>0.0253</max_height>
+         <real_height>0.0253</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123331</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022212 -0.006106 -0.006415</min>
+            <max>0.027788 0.006108 0.018889</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>NO: {"summary":"One handle is split, but the other handle and lever are not distinctly segmented by the provided colors.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.usd b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.usd
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+size 4887912
diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/textures/material_0.png b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/video.mp4 b/dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/video.mp4
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