diff --git a/.gitattributes b/.gitattributes
index 257e92d9280e2bb5497509305be2297ac1a4815e..7f43743ecab036386ba4764efb91636514eac430 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2603,5 +2603,5 @@ dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_
 dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/dental_floss_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/mesh/dental_floss_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/comb_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/mesh/comb_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/nail_clipper_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebc3c1e43516ad0642a5e640af8ccde28fbebf6c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_006_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/c0233bca661f5df6b21705b7b924a16a/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cda6531648439eff950d716ab007d36b85cb7786
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d755e243cb68d229f48492a942bd10ac6409ed46b652774d4e9681f5bfe35e
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.glb b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4bc61398c76a245a054171e86ecc2c0223280e49
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11571968
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.mtl b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..09c88bae6e23f2ac9f8588b0a752125970d44b6c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.mtl
@@ -0,0 +1,6 @@
+newmtl nail_clipper_006_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/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c3432243670fa605c12d733e9cb26e5087abbed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.obj
@@ -0,0 +1,111322 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006_collision.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7506436ec3ddd981d7b3c54d264d9d0a923367be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cda6531648439eff950d716ab007d36b85cb7786
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8311511
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cda6531648439eff950d716ab007d36b85cb7786
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8311511
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2fb2d516f1544dd82735062b524b5550a475b29
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab49984a6ab55fdcd510af825909dcfcc69ee72f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision.obj
@@ -0,0 +1,6551 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_0.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c26da2e7b82502780e2fc52612fc33e6afc9f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_1.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26c9d5a31adbd4f7a044b8869934103a3d307924
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_1.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_10.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4f73c375c9994a090086f34ab3cecf39da58e28
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_10.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_11.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60855a5ebbce7c4e0590250ece6ae1c84e45a86d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_11.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_12.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f4e85045bfd406438d1632d02a195fb09464b24
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_12.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_13.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..405047110082063ac555b22246a6af1db42c411a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_13.obj
@@ -0,0 +1,259 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_14.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc4893f768cbfcdffd38e90abc28f0b6e07571af
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_14.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00710497 -0.01797428 -0.00449248
+v -0.00690067 -0.01797429 -0.00306245
+v -0.00686068 -0.01715560 -0.00306244
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+
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_15.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86203b3c6af3f056508f481f52734e0ee16a20b1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_15.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+v 0.00469069 -0.02000274 -0.00449248
+v 0.00530767 -0.02000274 -0.00438076
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+
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_16.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e59991caabcea7c073ee58eaeb0825b1d784a20
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_16.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.00001516 -0.02270881 -0.00306232
+v 0.00001516 -0.02332904 -0.00091513
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+
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_17.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2cdad95f66df7125c3cf9d5849041d7ffce8b6d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_17.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00470658 -0.02000401 -0.00449248
+v -0.00551703 -0.02000401 -0.00449248
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_18.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0d24023312927a2926c96d714dd7208fd46e50
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_18.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_19.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc58bd1ed2beaeb11b05f0b76c0259b411b149e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_19.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_2.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..717818cd5db2adabbaafdfc4458f51fe4479bc56
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_2.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_20.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e2a1bbe4ef45a115c653ccc4a376f5e761cf5d7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_20.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_3.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5684c26ca5318470e9391dcfe6c34b74b481a0c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_3.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_4.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bfd212166361c32ddc162789745cbf21be5c7ac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_4.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_5.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ffa9218b49abc3fb75ea5deecb764e02fa10139
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_5.obj
@@ -0,0 +1,811 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_6.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95cabd01e919b11f530244a743f102709ba1e50e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_6.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_7.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaf89aa203b14d66155cd54de5e7cc53ca595500
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_7.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_8.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2490ffeb5856ca30a94ab57ddc7b1c816285614
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_8.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.00543999 0.02381233 -0.00664944
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_9.obj b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa916e5bbd28f4e7108f809e6c3c1a834dd7084
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/mesh/nail_clipper_006_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/nail_clipper_006.xml b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/nail_clipper_006.xml
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index 0000000000000000000000000000000000000000..7c234583e0f20780cb5ce0ecdac849d1ed0a2052
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mjcf/nail_clipper_006.xml
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+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/nail_clipper_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/nail_clipper_006.urdf b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/nail_clipper_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..876243597fb7ef785fc09b16d68e69d891091894
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/nail_clipper_006.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_006">
+   <link name="nail_clipper_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>c0233bca661f5df6b21705b7b924a16a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>standard nail clipper</name>
+         <color>silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact metal nail clipper with curved blades and ergonomic design</description>
+         <min_height>0.0336</min_height>
+         <max_height>0.0336</max_height>
+         <real_height>0.0336</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416201637</generate_time>
+         <gs_model>""</gs_model>
+      </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":"Missing distinct lever and hinge parts; current colors only split two arms plus small fragments.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/nail_clipper_006.usd b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/nail_clipper_006.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/nail_clipper_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39434968858e8370b97bcabbb4db03456d7c65bfd5ec6924777362f86d0bf4f1
+size 4863529
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/textures/material_0.png b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d755e243cb68d229f48492a942bd10ac6409ed46b652774d4e9681f5bfe35e
+size 8311511
diff --git a/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/video.mp4 b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7594d3047fde5c02486701054e3c5c1e9599a836212104f1703f28b401bfde84
+size 203620