diff --git a/.gitattributes b/.gitattributes
index f8d12362ca4f6f3501886bc9ef053c1130c205f2..e678f4e4dfd1d53585d03fa65e8f8a4bae259cc6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2621,7 +2621,5 @@ dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mo
 dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mouthwash_cup_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/mesh/toothbrush_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/toothbrush_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/mesh/toothbrush_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/toothbrush_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/mesh/razor_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/razor_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/nail_clipper_007.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd6f97ddb31ce481f427c14c65fc991155a436c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_007_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+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/d2b52fe6f01f51329c591c0304b34a1a/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e840a7af6941ea001acf27fdcc15604874ef0351
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0b12015829e73511dc4b544d7c28665aec51d1ce2f9d625dc7f7ab5707615ce
+size 8229080
diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.glb b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d96add7ae0267ff34ef883d52bb8018c12b839d9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ecae13262429b5bfc69813e0b51103a9a9a3f00dbdf283b9f7db1a88e58158e
+size 11500248
diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.mtl b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..850dfd01555eb4a60117cd7d1c08b429fcae12a6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.mtl
@@ -0,0 +1,6 @@
+newmtl nail_clipper_007_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/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abd305bb3af8290ac929dea00c2a785e91498265
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.obj
@@ -0,0 +1,113160 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl nail_clipper_007_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007_collision.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5c7364472e9b0495335129058d7bd773708240
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007_collision.obj
@@ -0,0 +1,7682 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd749c4432add734f13eb61132473f787f3e0049
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007.obj
@@ -0,0 +1,113160 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f21c2914790afe84d57321d2710675d9ca0cc7f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision.obj
@@ -0,0 +1,7682 @@
+# https://github.com/mikedh/trimesh
+
+o nail_clipper_007_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_0.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ae3236c44af812a90d52eadeba75c2dd0c7aec3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_0.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_1.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..582333c0bbcd6407b708846d6a55c255805249e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_1.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_10.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15b42f6b8f65d022e9160675764f2593a53aba92
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_10.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_11.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdf9ec2b69daaa34ae3bd731bd70b956a25bce4b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_11.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_12.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7900a6af9cf5e8366657124f9688d63213943e9a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_12.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_13.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4f685178050cb2deb0a450941bccd609c0ff5d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_13.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_14.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dd1fc038b4634a22b760aeb1c8ab114c7ebc4f6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_14.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_15.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d155b12d663344cdece414d7405e7d5e280a125c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+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/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_16.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..964049062f78f3ecad03fa75cc3d70fc00b16de5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_16.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.00000802 -0.02442992 -0.00156415
+v 0.00000802 -0.02423338 -0.00063756
+v 0.00000802 -0.02431145 -0.00188782
+v 0.00617294 -0.02612619 -0.00249844
+v 0.00552691 -0.02603285 -0.00214574
+v 0.00552691 -0.02603285 -0.00193139
+v 0.00000802 -0.02396323 -0.00014950
+v 0.00610812 -0.02614145 -0.00172899
+v 0.00610812 -0.02589285 -0.00124135
+v 0.00000802 -0.02418760 -0.00222515
+v 0.00645655 -0.02603195 -0.00298309
+v 0.00658472 -0.02603285 -0.00298309
+v 0.00678214 -0.02612170 -0.00253944
+v 0.00679245 -0.02613965 -0.00174180
+v 0.00000802 -0.02380348 0.00012421
+v 0.00676372 -0.02510934 0.00006357
+v 0.00610812 -0.02551052 -0.00058888
+v 0.00521679 -0.02535793 -0.00298308
+v 0.00000802 -0.02349383 -0.00238314
+v 0.00666796 -0.02603285 -0.00298309
+v 0.00716372 -0.02547999 -0.00253943
+v 0.00707017 -0.02557423 -0.00147534
+v 0.00694346 -0.02531935 -0.00058888
+v 0.00000802 -0.02364821 0.00038681
+v 0.00610812 -0.02469021 0.00054096
+v 0.00610812 -0.02509767 0.00005333
+v 0.00752909 -0.02403593 -0.00005300
+v 0.00707974 -0.02442814 0.00033045
+v 0.00676888 -0.02415709 0.00098846
+v 0.00610812 -0.02419389 0.00102433
+v 0.00000802 -0.01939676 -0.00298306
+v 0.00697440 -0.02547281 -0.00298308
+v 0.00739281 -0.02448736 -0.00156415
+v 0.00752909 -0.02403593 -0.00025326
+v 0.00698619 -0.02509317 -0.00298308
+v 0.00688748 -0.01852888 -0.00298306
+v 0.00724917 -0.01697352 -0.00156412
+v 0.00000802 -0.02340948 0.00074720
+v 0.00000802 -0.02317882 0.00109350
+v 0.00753130 -0.02349384 -0.00003848
+v 0.00735598 -0.02349384 0.00044916
+v 0.00688601 -0.02349384 0.00106745
+v 0.00610812 -0.02349384 0.00126601
+v 0.00516817 -0.02349384 0.00126003
+v 0.00000802 -0.02285483 0.00137875
+v 0.00000802 -0.02301458 0.00123827
+v 0.00000802 -0.01697352 -0.00298305
+v 0.00753130 -0.02349384 -0.00025668
+v 0.00748195 -0.01952152 -0.00071312
+v 0.00753351 -0.02051505 -0.00024813
+v 0.00672100 -0.01776421 -0.00298306
+v 0.00682708 -0.01697352 -0.00239550
+v 0.00733388 -0.01697353 -0.00114054
+v 0.00736335 -0.02250031 0.00044148
+v 0.00753351 -0.02051505 -0.00004957
+v 0.00689337 -0.02250031 0.00107643
+v 0.00610812 -0.02250031 0.00133135
+v 0.00628123 -0.02050698 0.00137875
+v 0.00569339 -0.02250032 0.00137875
+v 0.00516817 -0.02283419 0.00137875
+v 0.00422454 -0.02294638 0.00137875
+v 0.00328901 -0.02299754 0.00137875
+v 0.00000802 -0.01697354 0.00137877
+v 0.00448162 -0.01697352 -0.00298305
+v 0.00744732 -0.01753536 -0.00058885
+v 0.00748342 -0.01849389 -0.00052951
+v 0.00752983 -0.01952152 -0.00022549
+v 0.00610812 -0.01728585 -0.00298305
+v 0.00610812 -0.01697352 -0.00282762
+v 0.00741933 -0.01697353 -0.00058885
+v 0.00733167 -0.02150858 0.00044276
+v 0.00752983 -0.01952152 -0.00006579
+v 0.00752393 -0.01880173 -0.00008586
+v 0.00686170 -0.02150858 0.00105038
+v 0.00629007 -0.01697354 0.00137877
+v 0.00631290 -0.01752281 0.00137877
+v 0.00630554 -0.01952153 0.00137876
+v 0.00610222 -0.02141345 0.00137875
+v 0.00752393 -0.01880173 -0.00016485
+v 0.00697735 -0.01697353 0.00038386
+v 0.00728158 -0.02051505 0.00043806
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+f 11 31 47
+f 11 47 64
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+f 74 81 75
+
diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_17.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4a5bc040aedf4b8ef8f30d66532b17a45d2a75c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_17.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00448148 -0.01697262 -0.00298348
+v 0.00610776 -0.01728507 -0.00298348
+v 0.00402423 -0.01697262 -0.00359985
+v 0.00000802 -0.01697262 -0.00298348
+v 0.00672124 -0.01776419 -0.00298349
+v 0.00636164 -0.01779761 -0.00402990
+v 0.00610776 -0.01760254 -0.00402989
+v 0.00516836 -0.01730888 -0.00402989
+v 0.00370504 -0.01697262 -0.00402989
+v 0.00000802 -0.01697262 -0.00402989
+v 0.00000802 -0.01939580 -0.00298349
+v 0.00688757 -0.01852820 -0.00298349
+v 0.00676770 -0.01852820 -0.00402990
+v 0.00668689 -0.01825835 -0.00402990
+v 0.00660272 -0.01799268 -0.00402990
+v 0.00000802 -0.01944258 -0.00402990
+v 0.00432794 -0.02124002 -0.00402991
+v 0.00517038 -0.02089707 -0.00298350
+v 0.00688151 -0.01952111 -0.00298349
+v 0.00680811 -0.01952111 -0.00402990
+v 0.00495691 -0.02113893 -0.00402991
+v 0.00587072 -0.02081729 -0.00298350
+v 0.00676097 -0.01999355 -0.00298349
+v 0.00664312 -0.02013432 -0.00402990
+v 0.00549025 -0.02103868 -0.00402991
+v 0.00610776 -0.02072497 -0.00298350
+v 0.00667342 -0.02028971 -0.00298349
+v 0.00635625 -0.02046557 -0.00402991
+v 0.00613066 -0.02065730 -0.00402991
+v 0.00640541 -0.02051737 -0.00298350
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 22
+f 1 22 26
+f 1 26 30
+f 1 30 27
+f 1 27 23
+f 1 23 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
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+f 2 9 3
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+f 4 16 11
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+f 23 27 24
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+f 27 30 29
+f 27 29 28
+
diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_18.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a1a91c99ae90b1cffa9abc735e0754bf9005495
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_18.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00000735 -0.01697262 -0.00300061
+v 0.00000735 -0.01939032 -0.00300062
+v 0.00000735 -0.01697262 -0.00402999
+v -0.00352836 -0.01697262 -0.00300061
+v 0.00000735 -0.01944280 -0.00403000
+v -0.00455595 -0.02073815 -0.00300063
+v -0.00456271 -0.02117483 -0.00403001
+v -0.00327079 -0.01697262 -0.00402999
+v -0.00516980 -0.01715023 -0.00300061
+v -0.00517182 -0.02089644 -0.00300063
+v -0.00518399 -0.02126174 -0.00402275
+v -0.00517318 -0.02126174 -0.00403001
+v -0.00516980 -0.01731567 -0.00402999
+v -0.00594116 -0.01725268 -0.00300061
+v -0.00611017 -0.02071715 -0.00300063
+v -0.00519143 -0.02126174 -0.00403001
+v -0.00561396 -0.01743239 -0.00402999
+v -0.00611017 -0.01729719 -0.00300061
+v -0.00667264 -0.02028299 -0.00300062
+v -0.00613181 -0.02065291 -0.00403001
+v -0.00615547 -0.01763730 -0.00402999
+v -0.00647456 -0.01757390 -0.00300061
+v -0.00687951 -0.01952132 -0.00300062
+v -0.00672673 -0.01984925 -0.00403000
+v -0.00664357 -0.02013057 -0.00403000
+v -0.00660233 -0.01799798 -0.00403000
+v -0.00671861 -0.01777082 -0.00300062
+v -0.00689844 -0.01899772 -0.00300062
+v -0.00680582 -0.01952132 -0.00403000
+v -0.00675309 -0.01848169 -0.00403000
+v -0.00680312 -0.01803955 -0.00300062
+v -0.00688492 -0.01852829 -0.00300062
+v -0.00679230 -0.01905273 -0.00403000
+f 1 2 5
+f 1 5 3
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+f 1 4 9
+f 1 9 14
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+f 1 18 22
+f 1 22 27
+f 1 27 31
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+f 1 6 2
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+f 3 13 8
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+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 32 33
+f 30 33 32
+f 30 32 31
+
diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_19.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f503e7e7f2d84bd4907b39c1030bf11e1ca8081
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_19.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00046912 -0.02168118 -0.00402991
+v 0.00083799 -0.02170972 -0.00402991
+v 0.00000802 -0.02168289 -0.00402991
+v 0.00611832 -0.02422048 -0.00298351
+v 0.00140906 -0.02175786 -0.00402991
+v 0.00000802 -0.02431547 -0.00402992
+v 0.00000802 -0.02188991 -0.00397008
+v 0.00689910 -0.02451654 -0.00298351
+v 0.00565245 -0.02298640 -0.00399385
+v 0.00422820 -0.02241004 -0.00402991
+v 0.00328894 -0.02213315 -0.00402991
+v 0.00315095 -0.02210035 -0.00402991
+v 0.00260379 -0.02197042 -0.00402991
+v 0.00211333 -0.02186734 -0.00402991
+v 0.00000802 -0.02250120 -0.00380843
+v 0.00520776 -0.02452378 -0.00298351
+v 0.00645646 -0.02603219 -0.00298352
+v 0.00000802 -0.02422133 -0.00380527
+v 0.00561966 -0.02561856 -0.00402992
+v 0.00698654 -0.02509374 -0.00298351
+v 0.00677273 -0.02453187 -0.00402992
+v 0.00651384 -0.02411100 -0.00402992
+v 0.00628295 -0.02375743 -0.00402992
+v 0.00566748 -0.02296169 -0.00402991
+v 0.00000802 -0.02349460 -0.00364362
+v 0.00520776 -0.02469076 -0.00298351
+v 0.00652887 -0.02600791 -0.00310788
+v 0.00658420 -0.02603261 -0.00298352
+v 0.00521664 -0.02535828 -0.00298351
+v 0.00000802 -0.02385072 -0.00372281
+v 0.00613745 -0.02567010 -0.00402992
+v 0.00697493 -0.02547330 -0.00298351
+v 0.00677137 -0.02487053 -0.00402992
+v 0.00663611 -0.02600791 -0.00310788
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+v 0.00640523 -0.02558789 -0.00402992
+v 0.00673789 -0.02536893 -0.00402992
+f 1 2 5
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+f 27 34 35
+f 27 35 28
+f 31 36 34
+f 32 35 37
+f 32 37 33
+f 34 37 35
+f 34 36 37
+
diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_2.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a55f9e22bc102ab571cdcbab52a40ae33d1f3854
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_2.obj
@@ -0,0 +1,1933 @@
+# https://github.com/mikedh/trimesh
+v -0.00047067 0.02318520 0.02084405
+v 0.00140854 0.02318520 0.02084257
+v 0.00140854 0.02415168 0.02067474
+v -0.00047067 0.02415457 0.02067474
+v -0.00141027 0.02415168 0.02067474
+v -0.00141027 0.02318520 0.02084257
+v -0.00234987 0.02227641 0.02055443
+v 0.00328774 0.02228218 0.02055295
+v 0.00234814 0.02318520 0.02083514
+v 0.00234814 0.02413437 0.02066732
+v 0.00140854 0.02464792 0.02033761
+v 0.00046894 0.02465080 0.02034206
+v -0.00047067 0.02465080 0.02034206
+v -0.00234987 0.02413437 0.02066732
+v -0.00234987 0.02318520 0.02083663
+v -0.00141027 0.02464792 0.02034058
+v -0.00328947 0.02228218 0.02055295
+v -0.00141027 0.02227353 0.02055295
+v -0.00141027 0.02120031 0.02016828
+v 0.00422855 0.02182925 0.02034651
+v 0.00422855 0.02232834 0.02050245
+v -0.00141027 0.02020497 0.01978658
+v 0.00140854 0.01822007 0.01895190
+v 0.00422855 0.02120031 0.02009551
+v 0.00328774 0.02318520 0.02077128
+v 0.00328774 0.02401897 0.02060345
+v 0.00234814 0.02463061 0.02030790
+v 0.00234814 0.02483256 0.01982076
+v 0.00140854 0.02484410 0.01985046
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_20.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b8afb1f5821f32660e44091077524c5e04bee2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00666166 -0.01697264 0.00054999
+v -0.00666166 -0.01697264 0.00154999
+v -0.00666166 -0.01118368 0.00054999
+v -0.00666166 -0.01118368 0.00154999
+v 0.00666187 -0.01697264 0.00054999
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+v 0.00666187 -0.01118368 0.00054999
+v 0.00666187 -0.01118368 0.00154999
+f 2 4 1
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+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/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_3.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44ef286e5608d3cd033b8bcd3ca6f4ead80deac6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_3.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.00013232 -0.00456873 0.00959742
+v 0.00234924 -0.00456873 0.00959340
+v 0.00013232 -0.00456871 0.00567234
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_4.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae725c5210cd3a7e939e28b687633a9ad4565fe2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_4.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_5.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6fb3de6716362a29058abc1e28151f69f0a4d75
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_5.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_6.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ff6c0c897f01f9ca10e92cc17f7fa97ec7897b1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_6.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_7.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dbe1c69498e604fd75d4e4b46e6f785a8ae5d9c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_7.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_8.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5f865a90c6bcb0bc1543440a95ac72563505163
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_9.obj b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc4fe300c5e1a56dc45f06dd4f028eea202e269
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/mesh/nail_clipper_007_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/nail_clipper_007.xml b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/nail_clipper_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a4d39623c685ac9afb81a65279f08acf68417008
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mjcf/nail_clipper_007.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_007">
+  <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_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_007_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_007_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_007_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_007_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_007_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_007_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_007_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_007_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_007_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/nail_clipper_007_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/nail_clipper_007_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/nail_clipper_007_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/nail_clipper_007_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/nail_clipper_007_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_007">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/nail_clipper_007.urdf b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/nail_clipper_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5c27d66f980a49cbd07122d7289b2b08e65c17be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/nail_clipper_007.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_007">
+   <link name="nail_clipper_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_007.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_007_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>d2b52fe6f01f51329c591c0304b34a1a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>black nail clipper</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact black nail clipper with ergonomic design</description>
+         <min_height>0.0301</min_height>
+         <max_height>0.0301</max_height>
+         <real_height>0.0301</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416201659</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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":"Lever and body are mostly separated, but tiny extra color fragments create nonfunctional over-segmentation.","merge_groups":[{"colors":["Red","Navy"],"target_part":"lever","reason":"Navy appears as small lever fragments near pivot/tip"},{"colors":["Cyan","Teal"],"target_part":"clipper body","reason":"Teal appears as small body-edge fragments and noise"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/nail_clipper_007.usd b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/nail_clipper_007.usd
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/textures/material_0.png b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/video.mp4 b/dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/video.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 174908