diff --git a/.gitattributes b/.gitattributes
index cc318312036b37661ea3b4b88c343a6aea43b32b..8cd4847b1b4e812201b928cf3ccbcae0145afd76 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2605,3 +2605,5 @@ dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/dental_
 dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/mesh/dental_floss_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/mesh/nail_clipper_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/nail_clipper_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/nail_clipper_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..53bef519398ae8d243457e637ffa28daa68f465d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/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/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.glb b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.glb
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.glb
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.mtl b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..69728e89dd157e1921b780fcaffe6597c0b68717
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.mtl
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+newmtl nail_clipper_026_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14e95727f851477ad48fc2b32418f39f84822c39
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.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/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026_collision.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390a5a9882a6a6876c270b237917275cafcd6c11
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..364b73b6125cffd3785e36272250f314dd704b2e
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..127f869c2ac120c48434b22c7a26d32907900b12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision.obj
@@ -0,0 +1,4707 @@
+# https://github.com/mikedh/trimesh
+
+o nail_clipper_026_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_0.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac36d13cc4f387be3d2c369bc97f8f0d579b6d11
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_0.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_1.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3533aa6a4472f523584672b6dc92fa00e6833cc2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_1.obj
@@ -0,0 +1,937 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_10.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7437da6a6cada495cdfec202d8eb725e640de472
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_10.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v -0.01478319 -0.00133053 0.00041485
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_11.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e6aa80c367ea9c068beb037a2c51ac4010196be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_11.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+v -0.01920272 0.00407981 -0.00116651
+v -0.01920272 0.00405314 -0.00071107
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+
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_12.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760226ddfb4ec0d7d0d69bf3e77659f7e4d2b3fa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_12.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+v -0.02275385 -0.00402406 0.00041503
+v -0.02362169 -0.00398476 0.00225634
+v -0.02110316 -0.00016264 0.00225635
+v -0.02041230 -0.00016263 0.00041504
+v -0.02291567 -0.00399459 0.00151415
+v -0.02213318 -0.00395111 0.00041503
+v -0.02299769 -0.00396927 0.00225634
+v -0.02110686 -0.00031686 0.00225635
+v -0.02042079 -0.00037619 0.00041504
+v -0.02195991 -0.00373793 0.00041503
+v -0.02296481 -0.00392807 0.00225634
+v -0.02111092 -0.00035957 0.00225635
+v -0.02177112 -0.00345445 0.00041503
+v -0.02111277 -0.00037620 0.00225635
+v -0.02126387 -0.00105165 0.00225635
+v -0.02128087 -0.00110570 0.00225635
+v -0.02256618 -0.00341553 0.00225634
+v -0.02235374 -0.00303755 0.00225634
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 25
+f 1 25 30
+f 1 30 34
+f 1 34 40
+f 1 40 41
+f 1 41 39
+f 1 39 38
+f 1 38 37
+f 1 37 35
+f 1 35 31
+f 1 31 26
+f 1 26 16
+f 1 16 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 4
+f 2 4 3
+f 2 7 10
+f 2 10 8
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 6 16 7
+f 7 16 10
+f 8 11 9
+f 8 10 17
+f 8 17 18
+f 8 18 23
+f 8 23 27
+f 8 27 32
+f 8 32 36
+f 8 36 33
+f 8 33 29
+f 8 29 24
+f 8 24 12
+f 8 12 11
+f 10 18 17
+f 10 16 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 18
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 16 26 27
+f 16 27 23
+f 16 23 22
+f 16 22 21
+f 16 21 20
+f 16 20 19
+f 24 28 25
+f 24 29 28
+f 25 28 30
+f 26 31 27
+f 27 31 32
+f 28 29 30
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 37
+f 32 37 38
+f 32 38 39
+f 32 39 36
+f 33 36 40
+f 33 40 34
+f 36 41 40
+f 36 39 41
+
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_13.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca8b708431bb55ab1f0f6cd9075f3081fae8d766
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_13.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01920272 -0.00016263 -0.00021764
+v -0.01920272 -0.00016264 0.00285669
+v -0.01920272 0.00206295 -0.00021763
+v -0.00967201 -0.00016263 -0.00021764
+v -0.01920272 0.00225075 0.00285670
+v -0.01102301 -0.00016264 0.00285669
+v -0.01920272 0.00225075 0.00239717
+v -0.01869796 0.00222146 -0.00021763
+v -0.00967201 0.00225076 -0.00021763
+v -0.00967201 -0.00016264 0.00199752
+v -0.01115363 0.00225075 0.00285670
+v -0.00967761 -0.00016264 0.00200144
+v -0.00967201 0.00055103 0.00200384
+v -0.00967201 0.00131076 0.00200565
+v -0.00967201 0.00192474 0.00200596
+v -0.01102301 0.00039109 0.00285669
+v -0.01784239 0.00225075 0.00166711
+v -0.01773136 0.00225075 0.00160873
+v -0.01371195 0.00225076 -0.00021763
+v -0.00967201 0.00225075 0.00199272
+v -0.01108272 0.00192474 0.00285670
+v -0.00967201 0.00208302 0.00200115
+v -0.01104354 0.00114870 0.00285669
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 12
+f 1 12 6
+f 1 6 2
+f 2 6 16
+f 2 16 23
+f 2 23 21
+f 2 21 11
+f 2 11 5
+f 3 7 8
+f 4 9 20
+f 4 20 22
+f 4 22 15
+f 4 15 14
+f 4 14 13
+f 4 13 10
+f 5 11 20
+f 5 20 9
+f 5 9 19
+f 5 19 18
+f 5 18 17
+f 5 17 7
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 10 13 12
+f 11 21 20
+f 15 22 23
+f 15 23 16
+f 20 21 22
+f 21 23 22
+
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_14.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39afee1d5530e404897a1a1c0583d5e284d8e518
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_14.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01920272 0.00105698 0.00170711
+v -0.01924798 0.00100062 0.00170711
+v -0.01920272 -0.00016222 0.00170711
+v -0.01920272 0.00396790 -0.00034894
+v -0.02034156 0.00402299 -0.00007591
+v -0.01926158 0.00096460 0.00170711
+v -0.02034156 0.00341149 0.00016863
+v -0.01947085 -0.00016222 0.00170711
+v -0.01920272 -0.00016220 -0.00242129
+v -0.01920272 0.00400816 -0.00050438
+v -0.01947653 0.00399714 -0.00030947
+v -0.01947653 0.00412512 -0.00089987
+v -0.02034156 0.00416623 -0.00086366
+v -0.01940540 0.00058193 0.00170711
+v -0.02034156 0.00340852 0.00016945
+v -0.02034156 -0.00016221 0.00034603
+v -0.01945646 0.00039123 0.00170711
+v -0.02034156 0.00039124 0.00039567
+v -0.01920272 0.00269193 -0.00244936
+v -0.01947653 -0.00016220 -0.00236473
+v -0.01920272 0.00409419 -0.00089987
+v -0.01920272 0.00408020 -0.00116600
+v -0.02030421 0.00416665 -0.00089987
+v -0.02034156 0.00416369 -0.00089987
+v -0.02034156 -0.00016220 -0.00214745
+v -0.01947653 0.00269193 -0.00239239
+v -0.02034156 0.00322461 -0.00215761
+v -0.02030421 0.00323902 -0.00216290
+v -0.01920272 0.00324834 -0.00234356
+v -0.02019573 -0.00016220 -0.00219098
+v -0.02034156 0.00276312 -0.00218894
+v -0.01920272 0.00396325 -0.00174583
+v -0.01946549 0.00395096 -0.00176495
+v -0.02030421 0.00396834 -0.00159405
+v -0.02034156 0.00397469 -0.00156272
+v -0.02034156 0.00361067 -0.00198793
+v -0.02030421 0.00362254 -0.00199648
+v -0.01973418 0.00380349 -0.00207379
+v -0.01946549 0.00351235 -0.00223858
+v -0.01920272 0.00349498 -0.00228456
+v -0.01920272 0.00392384 -0.00188661
+v -0.01920272 0.00385943 -0.00209454
+v -0.02034156 0.00396664 -0.00158754
+v -0.02034156 0.00363652 -0.00197166
+v -0.01920272 0.00382807 -0.00212872
+f 1 2 6
+f 1 6 14
+f 1 14 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 29
+f 1 29 40
+f 1 40 45
+f 1 45 42
+f 1 42 41
+f 1 41 32
+f 1 32 22
+f 1 22 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 16
+f 3 16 25
+f 3 25 30
+f 3 30 20
+f 3 20 9
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 24
+f 5 24 35
+f 5 35 43
+f 5 43 44
+f 5 44 36
+f 5 36 27
+f 5 27 31
+f 5 31 25
+f 5 25 16
+f 5 16 18
+f 5 18 15
+f 5 15 7
+f 6 7 14
+f 7 15 14
+f 8 17 18
+f 8 18 16
+f 9 20 19
+f 10 21 11
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 14 15 17
+f 15 18 17
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 20 26
+f 20 30 31
+f 20 31 26
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 25 31 30
+f 26 31 27
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 28 38 39
+f 28 39 29
+f 29 39 40
+f 32 41 33
+f 33 41 42
+f 33 42 34
+f 34 42 38
+f 34 38 43
+f 34 43 35
+f 36 44 37
+f 37 44 38
+f 38 44 43
+f 38 42 45
+f 38 45 40
+f 38 40 39
+
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_15.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a704e79a371aaada5c82adcb5b473fb25ac843
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02421362 -0.00399390 0.00205660
+v -0.02421362 -0.00399390 0.00305660
+v -0.02421362 -0.00016264 0.00205660
+v -0.02421362 -0.00016264 0.00305660
+v -0.02031633 -0.00399390 0.00205660
+v -0.02031633 -0.00399390 0.00305660
+v -0.02031633 -0.00016264 0.00205660
+v -0.02031633 -0.00016264 0.00305660
+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/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_16.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..554112ff1f09b231d683126403070103c25b1e51
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_16.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01371195 0.00225094 -0.00021763
+v -0.01773136 0.00225093 0.00160873
+v -0.01920272 0.00347491 0.00250671
+v -0.01920272 0.00384132 0.00261986
+v -0.01920272 0.00390487 0.00264996
+v -0.01343018 0.00244497 -0.00021763
+v -0.00967201 0.00225094 -0.00021763
+v -0.01784239 0.00225093 0.00166711
+v -0.01920272 0.00243923 0.00240379
+v -0.01920272 0.00398237 0.00285670
+v -0.01864851 0.00395177 0.00257803
+v -0.01670132 0.00386943 0.00188589
+v -0.01405623 0.00382504 0.00113356
+v -0.01083081 0.00384921 0.00029726
+v -0.01285451 0.00260517 -0.00021763
+v -0.00967201 0.00345738 -0.00021763
+v -0.00967201 0.00225093 0.00199272
+v -0.01920272 0.00225093 0.00239717
+v -0.01915793 0.00398828 0.00285670
+v -0.01920272 0.00225093 0.00285670
+v -0.01864851 0.00403464 0.00285670
+v -0.01616483 0.00390881 0.00182630
+v -0.01037084 0.00386299 0.00026717
+v -0.00967201 0.00349479 -0.00018995
+v -0.00967201 0.00346043 -0.00021613
+v -0.01830889 0.00405916 0.00285670
+v -0.01115363 0.00225093 0.00285670
+v -0.00967201 0.00269198 0.00197075
+v -0.00967201 0.00386872 0.00023557
+v -0.01616483 0.00403231 0.00231893
+v -0.01533725 0.00405397 0.00231893
+v -0.01755595 0.00407921 0.00285670
+v -0.01124507 0.00267032 0.00285670
+v -0.00967201 0.00333798 0.00173482
+v -0.00986328 0.00316006 0.00197797
+v -0.00967201 0.00387606 0.00030418
+v -0.01671718 0.00407706 0.00285670
+v -0.01450874 0.00402999 0.00231893
+v -0.01202693 0.00396680 0.00151424
+v -0.00967201 0.00390309 0.00070954
+v -0.01037084 0.00391078 0.00070954
+v -0.01199241 0.00340868 0.00285670
+v -0.00967201 0.00341656 0.00166440
+v -0.01588960 0.00403500 0.00285670
+v -0.01450874 0.00394210 0.00285670
+v -0.01202693 0.00390415 0.00204087
+v -0.00967201 0.00387678 0.00120397
+v -0.00967201 0.00389987 0.00080223
+v -0.01285451 0.00371352 0.00285670
+v -0.00967201 0.00384545 0.00126627
+v -0.01401704 0.00390165 0.00285670
+v -0.01143167 0.00387390 0.00196624
+v -0.01339099 0.00381429 0.00285670
+v -0.01380805 0.00387945 0.00285670
+v -0.01382671 0.00388965 0.00283383
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 16
+f 1 16 7
+f 1 7 17
+f 1 17 27
+f 1 27 20
+f 1 20 18
+f 1 18 8
+f 1 8 2
+f 2 8 3
+f 3 9 18
+f 3 18 20
+f 3 20 10
+f 3 10 5
+f 3 5 4
+f 3 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 16 25
+f 7 25 24
+f 7 24 29
+f 7 29 36
+f 7 36 40
+f 7 40 48
+f 7 48 47
+f 7 47 50
+f 7 50 43
+f 7 43 34
+f 7 34 28
+f 7 28 17
+f 8 18 9
+f 10 19 11
+f 10 20 27
+f 10 27 33
+f 10 33 42
+f 10 42 49
+f 10 49 53
+f 10 53 54
+f 10 54 51
+f 10 51 45
+f 10 45 44
+f 10 44 37
+f 10 37 32
+f 10 32 26
+f 10 26 21
+f 10 21 19
+f 11 19 21
+f 11 21 14
+f 11 14 22
+f 11 22 12
+f 12 22 14
+f 12 14 13
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 14 21 26
+f 14 26 23
+f 15 25 16
+f 17 28 27
+f 23 29 24
+f 23 26 30
+f 23 30 31
+f 23 31 29
+f 26 32 30
+f 27 28 33
+f 28 34 35
+f 28 35 33
+f 29 31 36
+f 30 32 31
+f 31 32 37
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 36
+f 33 35 42
+f 34 43 42
+f 34 42 35
+f 36 41 40
+f 37 44 38
+f 38 44 45
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 40
+f 42 43 50
+f 42 50 49
+f 45 51 52
+f 45 52 46
+f 46 52 47
+f 47 52 50
+f 49 50 52
+f 49 52 53
+f 51 54 55
+f 51 55 52
+f 52 55 54
+f 52 54 53
+
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_17.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc1026f561fdc832632142909ef9ff9f4207701
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_17.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00967108 -0.00016263 0.00041485
+v -0.00967108 -0.00395469 0.00041484
+v -0.00967108 -0.00016263 -0.00051124
+v -0.01478181 -0.00016263 0.00041485
+v -0.01037052 -0.00396400 0.00041484
+v -0.00967108 -0.00391265 0.00002065
+v -0.00967108 -0.00266426 -0.00060835
+v -0.01023543 -0.00016263 -0.00085020
+v -0.01478181 -0.00016263 -0.00085020
+v -0.01478181 -0.00133028 0.00041485
+v -0.01037052 -0.00391414 0.00013347
+v -0.01119854 -0.00393311 0.00041484
+v -0.01119854 -0.00388921 0.00021719
+v -0.00967108 -0.00364957 -0.00038085
+v -0.00967108 -0.00326668 -0.00057825
+v -0.01023443 -0.00046366 -0.00085020
+v -0.01022943 -0.00037622 -0.00085020
+v -0.01478181 -0.00223560 -0.00085021
+v -0.01478181 -0.00158368 0.00041423
+v -0.01477730 -0.00158517 0.00041484
+v -0.01184245 -0.00388288 0.00041484
+v -0.01174389 -0.00385348 0.00027577
+v -0.00967108 -0.00354911 -0.00043571
+v -0.01362408 -0.00268658 -0.00085021
+v -0.01045007 -0.00124023 -0.00085020
+v -0.01040904 -0.00114981 -0.00085020
+v -0.01285209 -0.00263077 -0.00085021
+v -0.01279005 -0.00262332 -0.00085021
+v -0.01220418 -0.00244100 -0.00085021
+v -0.01106546 -0.00182368 -0.00085021
+v -0.01068822 -0.00154870 -0.00085021
+v -0.01255440 -0.00357218 0.00041484
+v -0.01367311 -0.00267988 0.00041484
+v -0.01452514 -0.00190406 0.00041484
+v -0.01425698 -0.00248379 -0.00085021
+v -0.01225621 -0.00373032 0.00041484
+f 1 2 6
+f 1 6 14
+f 1 14 23
+f 1 23 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 34
+f 1 34 33
+f 1 33 32
+f 1 32 36
+f 1 36 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 18
+f 4 18 19
+f 4 19 10
+f 5 11 6
+f 5 12 11
+f 6 11 13
+f 6 13 14
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 16
+f 8 16 26
+f 8 26 25
+f 8 25 31
+f 8 31 30
+f 8 30 29
+f 8 29 28
+f 8 28 27
+f 8 27 24
+f 8 24 35
+f 8 35 18
+f 8 18 9
+f 10 19 20
+f 11 12 13
+f 12 21 13
+f 13 21 22
+f 13 22 14
+f 14 22 24
+f 14 24 23
+f 15 25 26
+f 15 26 16
+f 15 23 24
+f 15 24 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 25
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 18 35 36
+f 18 36 32
+f 19 34 20
+f 21 36 35
+f 21 35 22
+f 22 35 24
+
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_18.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e998aad56882bd5585ce798c3182f56348e669fe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_18.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00967108 -0.00016262 -0.00197021
+v -0.00967108 -0.00016261 -0.00412207
+v -0.01023543 -0.00016263 -0.00085032
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_2.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..925ab8fbc3ec38c81acc6dc676f7314c5eafdd15
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_3.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8be4df960794ddf95aeba41cedf377ac004644
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_4.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139c276c6b336ae090f40bfe53f77af83f0b9791
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_4.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.00705833 0.00374635 -0.00331488
+v -0.00788640 0.00374265 -0.00331488
+v -0.00967108 0.00370781 -0.00251002
+v -0.00292015 0.00368928 -0.00170515
+v -0.00209316 0.00371005 -0.00411930
+v 0.00127266 0.00368484 -0.00492417
+v 0.00121803 0.00368484 -0.00492417
+v -0.00871446 0.00372041 -0.00331488
+v -0.00967108 0.00370040 -0.00318981
+v -0.00967108 0.00365148 -0.00242139
+v -0.00389283 0.00367668 -0.00156478
+v -0.00306477 0.00368187 -0.00156478
+v -0.00209316 0.00365889 -0.00170515
+v -0.00043703 0.00365519 -0.00251002
+v 0.00127266 0.00367076 -0.00497636
+v 0.00127266 0.00361072 -0.00331488
+v 0.00039103 0.00365742 -0.00492417
+v -0.00954253 0.00368483 -0.00331488
+v -0.00967108 0.00367668 -0.00331488
+v -0.00967108 0.00334240 -0.00198588
+v -0.00471983 0.00358551 -0.00156478
+v -0.00222171 0.00361739 -0.00156478
+v -0.00126509 0.00354846 -0.00170515
+v 0.00039103 0.00360849 -0.00251002
+v 0.00127266 0.00331425 -0.00577538
+v 0.00127266 0.00348101 -0.00256220
+v -0.00043703 0.00360183 -0.00492417
+v -0.00967108 0.00336760 -0.00381832
+v 0.00039103 0.00333500 -0.00559857
+v -0.00967108 0.00322974 -0.00196834
+v -0.00782962 0.00324086 -0.00156478
+v -0.00143542 0.00351065 -0.00156478
+v 0.00039103 0.00331646 -0.00187386
+v 0.00121803 0.00347137 -0.00251002
+v 0.00127266 0.00269165 -0.00609346
+v -0.00126509 0.00320381 -0.00542356
+v -0.00043703 0.00328460 -0.00551039
+v -0.00967108 0.00331127 -0.00390110
+v 0.00127266 0.00345951 -0.00250822
+v -0.00967108 0.00269164 -0.00191030
+v -0.00797317 0.00270127 -0.00156478
+v -0.00061593 0.00332758 -0.00156478
+v 0.00121803 0.00318156 -0.00202278
+v 0.00127266 0.00318972 -0.00205562
+v -0.00052487 0.00329571 -0.00156478
+v -0.00185213 0.00312821 -0.00536237
+v 0.00127266 0.00192451 -0.00611595
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+v -0.00967108 0.00278132 -0.00406891
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+v -0.00807922 -0.00267905 -0.00156480
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+v -0.00006103 0.00290658 -0.00156478
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+v -0.00967108 -0.00325941 -0.00199760
+v -0.00785962 -0.00324088 -0.00156480
+v 0.00127266 0.00274055 -0.00196519
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+v 0.00127266 -0.00190968 -0.00616051
+v -0.00967108 -0.00267682 -0.00415172
+v -0.00967108 -0.00359517 -0.00251004
+v -0.00761645 -0.00332463 -0.00156480
+v 0.00127266 0.00269164 -0.00196519
+v 0.00039103 0.00269164 -0.00164936
+v 0.00005574 -0.00267683 -0.00156480
+v 0.00039103 -0.00267683 -0.00168312
+v 0.00119446 -0.00267683 -0.00196836
+v 0.00127266 -0.00267683 -0.00199625
+v 0.00127266 -0.00244334 -0.00615601
+v -0.00681945 -0.00309930 -0.00454898
+v -0.00967108 -0.00328535 -0.00392902
+v 0.00127266 -0.00267682 -0.00615286
+v 0.00127266 -0.00291326 -0.00612722
+v -0.00967108 -0.00362111 -0.00331490
+v -0.00954253 -0.00362778 -0.00331490
+v -0.00374822 -0.00382568 -0.00156480
+v -0.00457521 -0.00378121 -0.00156480
+v 0.00107877 -0.00320678 -0.00200930
+v -0.00055487 -0.00330165 -0.00156480
+v 0.00127266 -0.00301333 -0.00204844
+v 0.00127266 -0.00325124 -0.00585728
+v 0.00127266 -0.00329571 -0.00578215
+v -0.00043703 -0.00354327 -0.00492419
+v 0.00039103 -0.00358626 -0.00492419
+v -0.00871446 -0.00365965 -0.00331490
+v 0.00121803 -0.00360776 -0.00492419
+v 0.00127266 -0.00366557 -0.00411932
+v -0.00300157 -0.00382494 -0.00156480
+v -0.00788640 -0.00367818 -0.00331490
+v 0.00039103 -0.00333723 -0.00188693
+v 0.00127266 -0.00339430 -0.00237687
+v -0.00126509 -0.00350771 -0.00156480
+v 0.00127266 -0.00360776 -0.00492419
+v 0.00127266 -0.00371227 -0.00331490
+v 0.00121803 -0.00371302 -0.00331490
+v -0.00043703 -0.00375675 -0.00251004
+v -0.00295658 -0.00382197 -0.00156480
+v 0.00039103 -0.00368337 -0.00251004
+v 0.00127266 -0.00342988 -0.00243265
+v -0.00126509 -0.00360777 -0.00170517
+v -0.00209316 -0.00368707 -0.00156480
+v -0.00209316 -0.00376564 -0.00170517
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+
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_5.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..548cfde7044245c1af075973f69d417b1070cc46
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_5.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01578599 -0.00016263 -0.00096436
+v -0.01578599 -0.00016263 0.00003565
+v -0.01578599 0.00345744 -0.00096436
+v -0.01578599 0.00345744 0.00003565
+v -0.00967168 -0.00016263 -0.00096436
+v -0.00967168 -0.00016263 0.00003565
+v -0.00967168 0.00345744 -0.00096436
+v -0.00967168 0.00345744 0.00003565
+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/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_6.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1cc7cd40e95e15f66af5bd42d1319d71f0ddcf6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_6.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01920272 -0.00016263 -0.00096436
+v -0.01920272 -0.00016263 0.00003565
+v -0.01920272 0.00405336 -0.00096436
+v -0.01920272 0.00405336 0.00003565
+v -0.01578599 -0.00016263 -0.00096436
+v -0.01578599 -0.00016263 0.00003565
+v -0.01578599 0.00405336 -0.00096436
+v -0.01578599 0.00405336 0.00003565
+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/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_7.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759f91f75ce18709a788af4617679a5c89ed974e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_7.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02275688 0.00401745 0.00170712
+v -0.02215784 0.00398736 0.00136159
+v -0.02034200 0.00402297 -0.00007621
+v -0.02113228 0.00416578 -0.00009565
+v -0.02284922 0.00401745 0.00170712
+v -0.02231655 0.00387379 0.00170712
+v -0.02034200 0.00416663 -0.00086375
+v -0.02064989 0.00387931 0.00033759
+v -0.02034200 0.00341146 0.00016864
+v -0.02196002 0.00414840 -0.00009565
+v -0.02341112 0.00396617 0.00170712
+v -0.02208456 0.00347798 0.00170712
+v -0.02034200 0.00416366 -0.00089998
+v -0.02203987 0.00337797 0.00170712
+v -0.02136920 0.00169517 0.00170712
+v -0.02034200 0.00340850 0.00016940
+v -0.02121410 0.00115825 0.00170711
+v -0.02113228 0.00410899 -0.00089998
+v -0.02190876 0.00394753 -0.00085804
+v -0.02242729 0.00387888 -0.00056171
+v -0.02258896 0.00395474 -0.00009566
+v -0.02284494 0.00403992 0.00066595
+v -0.02339108 0.00396278 0.00151414
+v -0.02369865 0.00345892 0.00170712
+v -0.02034200 0.00397467 -0.00156283
+v -0.02118453 0.00097434 0.00170711
+v -0.02109778 0.00039123 0.00170711
+v -0.02034200 0.00039124 0.00039555
+v -0.02034200 0.00396661 -0.00158762
+v -0.02113228 0.00392339 -0.00144574
+v -0.02159856 0.00386956 -0.00133934
+v -0.02212827 0.00345893 -0.00106741
+v -0.02250911 0.00345893 -0.00066506
+v -0.02315909 0.00367335 0.00036886
+v -0.02329808 0.00391321 0.00090546
+v -0.02365461 0.00345892 0.00151414
+v -0.02358397 0.00269189 0.00170712
+v -0.02110205 0.00020731 0.00170711
+v -0.02034200 -0.00016221 0.00034597
+v -0.02034200 0.00363650 -0.00197166
+v -0.02034200 0.00361065 -0.00198768
+v -0.02105013 0.00338308 -0.00182026
+v -0.02171489 0.00345894 -0.00143163
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+v -0.02248480 0.00269190 -0.00064141
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+v -0.02230242 -0.00016221 -0.00013610
+v -0.02245062 -0.00016221 0.00015413
+v -0.02270496 -0.00016221 0.00070942
+v -0.02276575 -0.00016221 0.00093329
+v -0.02034200 0.00276310 -0.00218905
+v -0.02071956 0.00306779 -0.00210782
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+
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_8.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67619b56d67d99c419fe33313627b5a6d8e9ae8b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_8.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00967108 -0.00016264 0.00199741
+v -0.00967108 -0.00020558 0.00199717
+v -0.00967108 -0.00016263 0.00041485
+v -0.01102362 -0.00016264 0.00285669
+v -0.01102362 -0.00039409 0.00285669
+v -0.00976486 -0.00037652 0.00205501
+v -0.00967108 -0.00037652 0.00199526
+v -0.00967108 -0.00395469 0.00041484
+v -0.01962652 -0.00016263 0.00041485
+v -0.02031633 -0.00016264 0.00285669
+v -0.01104342 -0.00115476 0.00285669
+v -0.00967108 -0.00114344 0.00198522
+v -0.00967108 -0.00399216 0.00070956
+v -0.01037131 -0.00401596 0.00070956
+v -0.01037131 -0.00396366 0.00041484
+v -0.01963173 -0.00037651 0.00041485
+v -0.02031633 -0.00016264 0.00267264
+v -0.02031633 -0.00395977 0.00285668
+v -0.01106842 -0.00191036 0.00285668
+v -0.00967108 -0.00191036 0.00196800
+v -0.00967108 -0.00390707 0.00126074
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diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_9.obj b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..383f1c2939c12af891ea6621728520776a9698c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/mesh/nail_clipper_026_collision_9.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/nail_clipper_026.xml b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/nail_clipper_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..472bc04b2bfe499a262494610ce9de5cea63369b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mjcf/nail_clipper_026.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_026_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_026_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_026_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_026_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_026_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_026_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/nail_clipper_026_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/nail_clipper_026_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/nail_clipper_026_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_026">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/nail_clipper_026.urdf b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/nail_clipper_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..af3018fcb1551cff02fe01cfb7a8ab6f9dcd4875
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/nail_clipper_026.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_026">
+   <link name="nail_clipper_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_026.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_026_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>c576b91557ab53b995a6d28e10f059b7</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>compact silver metal nail clipper with curved jaws and lever</description>
+         <min_height>0.0193</min_height>
+         <max_height>0.0193</max_height>
+         <real_height>0.0193</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123503</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024189 -0.004210 -0.011823</min>
+            <max>0.025810 0.004226 0.007459</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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":"Most functional parts are merged; only pivot is separated, while lever and clipper arms/blades are not distinguishable by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/nail_clipper_026.usd b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/nail_clipper_026.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/nail_clipper_026.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c7aa3cd2acdc32da1bc5ddd759d3825a3cc3ef9d64d95464ec16f30f617fdf9f
+size 4893574
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/textures/material_0.png b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9093045
diff --git a/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/video.mp4 b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 214687