diff --git a/.gitattributes b/.gitattributes
index d4718f9b5f1db4ebdc6ca0cee57de7b6cddefdb9..e1fd40be9480a22b805344d8c4b25b610f472a67 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2619,3 +2619,5 @@ dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/to
 dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/toothpaste_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d39fd1af5bd75ff2952df73ca1692060/mesh/toothbrush_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d39fd1af5bd75ff2952df73ca1692060/toothbrush_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/nail_clipper_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9939a433e42e2042ad6a8a07dc0fb36b07a93b89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_016_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/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/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.glb b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f464d0e421fc6c35cb05b679b46a70393ce1f061
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13641616
diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.mtl b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76b46e0164d3a5c553cfbe94a742c482193fd4c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.mtl
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+newmtl nail_clipper_016_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
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.obj b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6979ca9e5432fc35813ea262bca6abaec83ddda
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016.obj
@@ -0,0 +1,115854 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016_collision.obj b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41d4c368eb86bdb40e7f9cc246d88efa25dde5e9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mesh/nail_clipper_016_collision.obj
@@ -0,0 +1,2915 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision.obj b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5c4a45236c0905ea9f556881b32e119c962cfbf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision.obj
@@ -0,0 +1,2915 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_0.obj b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73bba52607cd181234a5f7f60f617d9de059a0da
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_0.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_1.obj b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a330ac369f0a890ac1d678896b1d4b535c94d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_2.obj b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78a2f702037390d77a81a8918abb5998582eaff7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_2.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_3.obj b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4fade4f0646533bba538b4e84ff4dcf7ce79cf3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_3.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_4.obj b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ad19389601dcfa4c812423acacab7cca777a02
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_5.obj b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506993dceb9d25f25b7c94242d74f55448e5ba6a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/mesh/nail_clipper_016_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/nail_clipper_016.xml b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/nail_clipper_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..da8c4a7a083c5e634568237515ca76a75ff7b93e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/mjcf/nail_clipper_016.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/nail_clipper_016.urdf b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/nail_clipper_016.urdf
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+++ b/dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/nail_clipper_016.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_016">
+   <link name="nail_clipper_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>d4bdf748418f57aa8cb876a7571aec6f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>gray nail clipper</name>
+         <color>gray,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact gray metal nail clipper with textured handle and pointed jaws</description>
+         <min_height>0.0104</min_height>
+         <max_height>0.0104</max_height>
+         <real_height>0.0104</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154734</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.046368 -0.007319 -0.004872</min>
+            <max>0.030641 0.007681 0.005510</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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":"All meaningful body and cutting jaws are merged; yellow is only small scattered details, and one listed color is unused.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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