diff --git a/.gitattributes b/.gitattributes
index 3bd7327fdd0c72664f8dfb93121e86879818ff50..b5565ae716d21487944b4391ce5c9ae97662f0f0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2625,3 +2625,5 @@ dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/na
 dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/nail_clipper_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mouthwash_cup_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/nail_clipper_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..15e8a130842aff25097293c5272b15f1d7911eae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_010_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/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/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010.glb b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0bf24d3a26101e8010b76ddaed79627986ffeae8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010.glb
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010.mtl b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60ae43fd1081f5ee682bb660ef05d280476fe9c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010.mtl
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+newmtl nail_clipper_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9affc6df4f091d4be5acb27dbc96772d7fcc369a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010.obj
@@ -0,0 +1,107586 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010_collision.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38d848a841fac7efac3d41fe12f9b9bb0f1808a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/nail_clipper_010_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50196746cc78e18c49c0503c7cb09c8e66aabc8c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision.obj
@@ -0,0 +1,6813 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_0.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..347c2c2cc2685ccf7c4c509c25ef4acea9df437c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_0.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_1.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f148d3284298a9264adbf5661561d7e4a92949f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_1.obj
@@ -0,0 +1,919 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_10.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26c03d77c5b0b2c395d1b7bbcfaaf01600879b07
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_10.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_11.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f81323f6b070618ca5acb8732c293cdc6e55059d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_11.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_12.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10c928486bc6faa655cf7bb8c15d8be09f838c0b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_12.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_13.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc2cb85972a0d62bc53ca2ee825f9f1e0820a3e0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_13.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.00668521 0.00298228 -0.00275108
+v -0.00678449 0.00298228 -0.00207059
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+
diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_14.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37d6bac592eb5b9d867c4ecb28ab93e695f1f4b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_14.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_15.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07631b6ab03f0a94af11fb05e396af4ed76b0a1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_15.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.00777714 -0.02012858 -0.00605787
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+v 0.00778629 -0.02099927 -0.00605788
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_16.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c65dd798b6cba5957992c97a617c113154ca5344
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_16.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_17.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aee0590e777e0135d4c64ac3678769ed4886aa7e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_17.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_18.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488486ed2f36ab4772f6bb118b95cd2bc7ce76fe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_18.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_2.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa987b8ea653aa484288f9fc24516fed3cb853d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_2.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v 0.00603224 -0.01603564 0.00505014
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+v 0.00586763 -0.01802105 0.00505013
+v -0.00595542 -0.01756441 0.00505014
+v -0.00599806 -0.01603564 0.00559970
+v -0.00599806 -0.01600566 0.00559970
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+
diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_3.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec5ae1e5aeb0d50e41cfc6cf0567780f5c9e40de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_3.obj
@@ -0,0 +1,796 @@
+# https://github.com/mikedh/trimesh
+v 0.00655319 0.00298229 -0.00512297
+v 0.00662377 0.00122748 -0.00464067
+v 0.00666554 0.00183207 -0.00529366
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_4.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b734ece331322ff15d71a68ae891cae5e5568ec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_4.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_5.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb0d55d34f47634eef489d34ce81c73622d8d91
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_5.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_6.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab4a85a048f4040403d58ed606900646592b0f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_7.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0d669e19d3b332b4bf50c8d92404166990e9c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_7.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_8.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca9d7942c487626f853dc7e0c0a7242e0fce249
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_8.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_9.obj b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f497001a11ab079bc6c297bcbedd7210c17edc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/mesh/nail_clipper_010_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/nail_clipper_010.xml b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/nail_clipper_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..60bc7ef6a4935808888e80ab29c278785660bba3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mjcf/nail_clipper_010.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_010_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_010_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/nail_clipper_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/nail_clipper_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/nail_clipper_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_010">
+      <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/e574a599721b59f58019978a6fe8a5a5/nail_clipper_010.urdf b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/nail_clipper_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3db8ce3c115390bc3d44e71d0b6397a3185ffc02
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/nail_clipper_010.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_010">
+   <link name="nail_clipper_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_010.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_010_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>e574a599721b59f58019978a6fe8a5a5</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 edges and lever mechanism</description>
+         <min_height>0.0275</min_height>
+         <max_height>0.0275</max_height>
+         <real_height>0.0275</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416201804</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/nail_clipper_010.usd b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/nail_clipper_010.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/nail_clipper_010.usd
@@ -0,0 +1,3 @@
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+size 4850271
diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/textures/material_0.png b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/video.mp4 b/dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/video.mp4
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