diff --git a/.gitattributes b/.gitattributes
index 62857e3833a767c8a6b1dea95f08d8f7c2565ff0..e13731c616b2b25844ca76688b25cfbf5740858e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2637,11 +2637,5 @@ dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/dental_
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 dataset/bathroom_supplies/personal_care/f90bbbb17d705379a6432772b8bc72bb/mesh/razor_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f90bbbb17d705379a6432772b8bc72bb/razor_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/mesh/razor_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/razor_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/dental_floss_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454/mesh/razor_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454/razor_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mouthwash_cup_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4bc03ee8da05d75f36403bc74ceaee60a67158f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl nail_clipper_024_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024.glb b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e23ebd9eb4001991f0397b73c729bbf6b1c81f99
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024.glb
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024.mtl b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94ae0e84cf85073d67ee06958b0e751b0b5a7b46
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024.mtl
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+newmtl nail_clipper_024_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e9bd1309cd0b61540034ef078f96874634d0bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024_collision.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab6ffe76925be1d25b0b91ac52116cd8018707f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024_collision.obj
@@ -0,0 +1,7099 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mesh/nail_clipper_024_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..154575515162df7fe515343dc39c60e3a74b420f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision.obj
@@ -0,0 +1,7099 @@
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_0.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa516ca8a827c78d593881baf040925b798b3199
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_0.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_1.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe92821bdd85808a3dfad4afc64b10be487ec678
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_1.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_10.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aab294bee62bc8b5758a6225f15c9bbf76f80433
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_11.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1b43f607ad3023f44864c7db64c582a7a2bb9d7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_11.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.02128762 0.00510934 -0.00099198
+v -0.02128142 0.00447725 -0.00098409
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+v -0.02121198 0.00554732 -0.00091407
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+v -0.01967845 0.00004034 -0.00094041
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+v -0.02006328 0.00004034 -0.00044769
+v -0.02118966 0.00387833 0.00003214
+v -0.02015132 0.00004034 0.00000976
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+v -0.02117767 0.00468180 0.00082046
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+v -0.02111029 0.00529485 0.00066411
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+v -0.02080152 0.00575494 0.00038564
+v -0.02075150 0.00580777 -0.00044767
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+v -0.02017075 0.00562595 -0.00100146
+v -0.02007196 0.00510934 -0.00108726
+v -0.01936637 0.00196609 -0.00095593
+v -0.01934611 0.00004034 -0.00094041
+v -0.01996531 0.00004034 0.00091045
+v -0.02059608 0.00439677 0.00147268
+v -0.02066470 0.00508844 0.00147268
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+v -0.02018356 0.00579179 0.00147268
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+v -0.01827347 0.00630902 0.00072965
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+v -0.01744719 0.00623652 0.00140978
+v -0.01720620 0.00622363 0.00139451
+v -0.01744719 0.00618063 0.00147268
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_12.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bcf5e2098738b34d5cc5ec223b42b20edec4e2f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_12.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.02142539 -0.00510862 -0.00044776
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+v -0.02126514 -0.00438194 0.00033367
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+v -0.02123788 -0.00557399 -0.00044776
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+v -0.02022315 0.00004034 0.00038292
+v -0.02006332 0.00004034 -0.00044774
+v -0.02082117 -0.00425751 -0.00110203
+v -0.02075179 -0.00510862 -0.00121682
+v -0.01967841 0.00004034 -0.00094035
+v -0.02075179 -0.00562625 -0.00100487
+v -0.02075179 -0.00580668 -0.00044776
+v -0.02080176 -0.00575753 0.00038501
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+v -0.02047632 -0.00563311 0.00147264
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_13.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..062815551ba91bf37d35882fd33a2b69022d0e76
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00095895 -0.00531398 -0.00680851
+v -0.00095895 -0.00531398 -0.00289168
+v -0.00095895 0.00531370 -0.00680851
+v -0.00095895 0.00531370 -0.00289168
+v 0.00004105 -0.00531398 -0.00680851
+v 0.00004105 -0.00531398 -0.00289168
+v 0.00004105 0.00531370 -0.00680851
+v 0.00004105 0.00531370 -0.00289168
+f 2 4 1
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+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_14.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b77842a78cc1532024bab70a2731b9e03daf735
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_14.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.01327339 -0.00485244 -0.00377167
+v 0.01994913 -0.00480016 -0.00513308
+v 0.01994913 -0.00483533 -0.00460236
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+v 0.01327339 -0.00477261 -0.00326244
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+f 48 55 49
+f 49 56 57
+f 49 57 58
+f 49 58 50
+f 49 55 59
+f 49 59 56
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_15.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e7e94af3eb425d774ac8059b0aaec1a74e414e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_15.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.00398720 0.00519221 -0.00289168
+v 0.00481376 0.00518001 -0.00289168
+v 0.00486177 0.00517900 -0.00294057
+v 0.00403521 0.00518611 -0.00294057
+v 0.00238338 0.00503774 -0.00414340
+v 0.00316063 0.00519119 -0.00289168
+v 0.00563903 0.00515867 -0.00289168
+v 0.00568834 0.00516375 -0.00294057
+v 0.01064383 0.00489647 -0.00414340
+v 0.00981856 0.00491070 -0.00414340
+v 0.00152956 0.00502249 -0.00414340
+v 0.00233407 0.00516782 -0.00289168
+v 0.00651490 0.00511903 -0.00289168
+v 0.00651490 0.00513225 -0.00294057
+v 0.01312222 0.00486190 -0.00377137
+v 0.01327274 0.00484971 -0.00390298
+v 0.01327274 0.00482838 -0.00414340
+v 0.01270959 0.00484464 -0.00414340
+v 0.01147039 0.00487614 -0.00414340
+v 0.00073025 0.00499607 -0.00414340
+v 0.00001657 0.00495745 -0.00414340
+v 0.00085741 0.00503773 -0.00289168
+v 0.00728437 0.00507228 -0.00289168
+v 0.00733887 0.00508143 -0.00294057
+v 0.01327274 0.00477450 -0.00326125
+v 0.01327274 0.00485581 -0.00377137
+v 0.01327274 -0.00482060 -0.00414344
+v 0.00001657 0.00478670 -0.00289168
+v 0.00011389 0.00486902 -0.00289168
+v 0.00075490 0.00502350 -0.00289168
+v 0.00001657 -0.00497000 -0.00414344
+v 0.00810315 0.00500825 -0.00289168
+v 0.00990290 0.00484666 -0.00289168
+v 0.01048163 0.00478975 -0.00289168
+v 0.01107592 0.00470336 -0.00289168
+v 0.01327274 0.00440049 -0.00297929
+v 0.00816543 0.00500317 -0.00289168
+v 0.00892063 0.00493711 -0.00289168
+v 0.01327274 -0.00485211 -0.00377141
+v 0.01312222 -0.00482669 -0.00414344
+v 0.00001657 -0.00474133 -0.00289172
+v 0.00083925 -0.00504217 -0.00289172
+v 0.00073284 -0.00500863 -0.00289172
+v 0.00043959 -0.00500557 -0.00414344
+v 0.01303269 0.00431614 -0.00289168
+v 0.01327274 0.00432325 -0.00292574
+v 0.01312222 -0.00485821 -0.00377141
+v 0.01327274 -0.00477284 -0.00326227
+v 0.00733887 -0.00508282 -0.00294061
+v 0.00651490 -0.00513262 -0.00294061
+v 0.01229695 -0.00488870 -0.00377141
+v 0.01147039 -0.00491411 -0.00377141
+v 0.01110058 -0.00488462 -0.00414344
+v 0.00238338 -0.00516921 -0.00289172
+v 0.00112082 -0.00504114 -0.00414344
+v 0.01327274 0.00423178 -0.00289168
+v 0.01327274 0.00428768 -0.00291239
+v 0.00568834 -0.00516412 -0.00294061
+v 0.01327274 -0.00432261 -0.00292823
+v 0.01064383 -0.00474438 -0.00289172
+v 0.00990809 -0.00484805 -0.00289172
+v 0.00899200 -0.00493139 -0.00289172
+v 0.00816543 -0.00500456 -0.00289172
+v 0.00733887 -0.00506859 -0.00289172
+v 0.00651490 -0.00511941 -0.00289172
+v 0.00568834 -0.00515193 -0.00289172
+v 0.01064383 -0.00489479 -0.00414344
+v 0.00320994 -0.00519055 -0.00289172
+v 0.00201356 -0.00506146 -0.00414344
+v 0.01327274 -0.00423317 -0.00289172
+v 0.01027401 -0.00490292 -0.00414344
+v 0.00486177 -0.00517530 -0.00289172
+v 0.00486177 -0.00518140 -0.00294061
+v 0.01327274 -0.00427078 -0.00290704
+v 0.01301841 -0.00431346 -0.00289172
+v 0.00403521 -0.00518852 -0.00294061
+v 0.00403521 -0.00518852 -0.00289172
+v 0.00283883 -0.00504622 -0.00414344
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 22
+f 1 22 30
+f 1 30 29
+f 1 29 28
+f 1 28 41
+f 1 41 43
+f 1 43 42
+f 1 42 54
+f 1 54 68
+f 1 68 77
+f 1 77 72
+f 1 72 66
+f 1 66 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 60
+f 1 60 75
+f 1 75 70
+f 1 70 56
+f 1 56 45
+f 1 45 35
+f 1 35 34
+f 1 34 33
+f 1 33 38
+f 1 38 37
+f 1 37 32
+f 1 32 23
+f 1 23 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 5
+f 3 5 4
+f 5 11 6
+f 5 10 9
+f 5 9 19
+f 5 19 18
+f 5 18 17
+f 5 17 27
+f 5 27 40
+f 5 40 53
+f 5 53 67
+f 5 67 71
+f 5 71 78
+f 5 78 69
+f 5 69 55
+f 5 55 44
+f 5 44 31
+f 5 31 21
+f 5 21 20
+f 5 20 11
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 11 20 12
+f 12 20 21
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+f 13 23 14
+f 14 23 24
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+f 14 25 26
+f 14 26 15
+f 15 26 16
+f 16 26 25
+f 16 25 36
+f 16 36 46
+f 16 46 57
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+f 16 70 74
+f 16 74 59
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+f 16 39 27
+f 16 27 17
+f 21 28 29
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+f 21 31 41
+f 21 41 28
+f 23 32 25
+f 23 25 24
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+f 31 42 43
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+f 35 45 46
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+f 39 49 50
+f 39 50 47
+f 40 47 51
+f 40 51 52
+f 40 52 53
+f 42 44 54
+f 44 55 54
+f 45 56 57
+f 45 57 46
+f 47 50 58
+f 47 58 51
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+f 48 60 61
+f 48 61 62
+f 48 62 63
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+f 48 64 49
+f 49 64 65
+f 49 65 50
+f 50 65 66
+f 50 66 58
+f 51 58 52
+f 52 58 53
+f 53 58 67
+f 54 55 68
+f 55 69 68
+f 58 71 67
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+f 58 72 73
+f 58 73 71
+f 59 74 75
+f 59 75 60
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+f 69 78 73
+f 69 73 76
+f 70 75 74
+f 71 73 78
+f 72 77 73
+f 73 77 76
+
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_16.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e04bc70977630110a2bfa4776552df6131df6dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_16.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00001657 0.00526204 -0.00543343
+v 0.00001657 0.00521671 -0.00552479
+v 0.00001657 0.00523423 -0.00460239
+v 0.01327274 0.00482830 -0.00414378
+v 0.01327274 0.00479739 -0.00451388
+v 0.00155681 0.00518168 -0.00543343
+v 0.00771517 0.00471394 -0.00584339
+v 0.00716499 0.00472837 -0.00586901
+v 0.00651490 0.00474588 -0.00589619
+v 0.00568834 0.00476649 -0.00592932
+v 0.00001657 0.00491072 -0.00612860
+v 0.00320994 0.00482933 -0.00602197
+v 0.00238338 0.00485097 -0.00605147
+v 0.00155681 0.00487157 -0.00607943
+v 0.00001657 0.00495709 -0.00414378
+v 0.00073025 0.00499624 -0.00414378
+v 0.00152956 0.00502199 -0.00414378
+v 0.00238338 0.00503745 -0.00414378
+v 0.00981856 0.00491072 -0.00414378
+v 0.01064383 0.00489630 -0.00414378
+v 0.01147039 0.00487569 -0.00414378
+v 0.01270959 0.00484479 -0.00414378
+v 0.01327274 -0.00482013 -0.00414382
+v 0.01327274 0.00477885 -0.00458893
+v 0.01064383 0.00476752 -0.00519041
+v 0.01327274 0.00456868 -0.00543343
+v 0.01327274 0.00450274 -0.00556413
+v 0.01327274 0.00419881 -0.00616043
+v 0.00001657 0.00448007 -0.00654399
+v 0.00001657 -0.00497055 -0.00414382
+v 0.01321435 -0.00482322 -0.00414382
+v 0.01327274 -0.00479438 -0.00450900
+v 0.01327274 0.00408033 -0.00622618
+v 0.00462950 0.00394021 -0.00668402
+v 0.00001657 0.00442650 -0.00657246
+v 0.00001657 -0.00518794 -0.00450589
+v 0.00043959 -0.00500558 -0.00414382
+v 0.01312222 -0.00482631 -0.00414382
+v 0.00001657 -0.00526315 -0.00543347
+v 0.01327274 -0.00456772 -0.00543347
+v 0.01327274 0.00353738 -0.00652278
+v 0.00001657 0.00353738 -0.00678754
+v 0.00403521 0.00395670 -0.00669153
+v 0.00001657 0.00408651 -0.00673810
+v 0.01327274 0.00339520 -0.00652692
+v 0.00001657 -0.00523327 -0.00460243
+v 0.00201356 -0.00506121 -0.00414382
+v 0.00112082 -0.00504061 -0.00414382
+v 0.01110058 -0.00488504 -0.00414382
+v 0.00073025 -0.00521266 -0.00460243
+v 0.00001657 -0.00526109 -0.00531986
+v 0.00001657 -0.00491080 -0.00613123
+v 0.00073025 -0.00489225 -0.00610768
+v 0.00403521 -0.00480777 -0.00599302
+v 0.00486177 -0.00478613 -0.00596145
+v 0.00568834 -0.00476450 -0.00592780
+v 0.00651490 -0.00474286 -0.00589338
+v 0.00714163 -0.00472638 -0.00586698
+v 0.00769181 -0.00471195 -0.00584007
+v 0.01327274 -0.00419785 -0.00616229
+v 0.00001657 -0.00353642 -0.00678679
+v 0.00320994 0.00398039 -0.00670162
+v 0.01327274 0.00275129 -0.00654452
+v 0.01327274 -0.00275033 -0.00654842
+v 0.01064383 -0.00489534 -0.00414382
+v 0.01027401 -0.00490358 -0.00414382
+v 0.00283883 -0.00504679 -0.00414382
+v 0.00001657 -0.00454093 -0.00648994
+v 0.01327274 -0.00353642 -0.00652668
+v 0.00001657 -0.00448117 -0.00654662
+v 0.00464897 -0.00394029 -0.00668456
+v 0.00001657 -0.00360751 -0.00678135
+v 0.00001657 -0.00408864 -0.00673840
+v 0.00320994 -0.00398047 -0.00670216
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+f 34 41 45
+f 34 45 42
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+f 42 64 61
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+f 46 66 67
+f 46 67 47
+f 52 68 60
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+f 55 60 56
+f 56 60 57
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+f 61 64 69
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+f 71 74 72
+f 72 74 73
+
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_17.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87c34debfb2f3e50edb7d834d43fc897592e7895
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_17.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01057467 0.00275121 0.00497593
+v -0.01057467 0.00316977 0.00493427
+v -0.01224337 0.00353740 0.00423518
+v -0.01224337 0.00275121 0.00430267
+v -0.01057467 0.00220948 0.00490890
+v -0.01057467 0.00338553 0.00491216
+v -0.01057467 0.00369436 0.00487586
+v -0.01224337 0.00401894 0.00415513
+v -0.01224337 0.00233033 0.00424682
+v -0.01224337 0.00016714 0.00374111
+v -0.01057467 0.00186500 0.00465780
+v -0.01057467 0.00434119 0.00461755
+v -0.01221005 0.00404996 0.00416001
+v -0.01224337 0.00408190 0.00413372
+v -0.01224337 0.00016714 0.00259869
+v -0.01086019 0.00016714 0.00337341
+v -0.01057467 0.00040930 0.00348838
+v -0.01163378 0.00431665 0.00424590
+v -0.01057467 0.00478661 0.00426033
+v -0.01083716 0.00477967 0.00421960
+v -0.01133878 0.00473799 0.00414723
+v -0.01224337 0.00442177 0.00397199
+v -0.01057467 0.00016714 0.00259869
+v -0.01224337 0.00489728 0.00259871
+v -0.01057467 0.00016714 0.00321703
+v -0.01057467 0.00483014 0.00368342
+v -0.01083716 0.00484218 0.00370669
+v -0.01224337 0.00481209 0.00357194
+v -0.01188958 0.00457410 0.00401737
+v -0.01057467 0.00470467 0.00259871
+v -0.01224337 0.00489265 0.00287588
+v -0.01165877 0.00485931 0.00259871
+v -0.01057467 0.00476717 0.00296082
+v -0.01057598 0.00470513 0.00259871
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 25
+f 1 25 23
+f 1 23 30
+f 1 30 33
+f 1 33 26
+f 1 26 19
+f 1 19 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 14
+f 3 14 22
+f 3 22 28
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+f 3 31 24
+f 3 24 15
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+f 3 10 9
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+f 4 9 5
+f 5 10 11
+f 5 9 10
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+f 8 13 14
+f 10 15 23
+f 10 23 25
+f 10 25 16
+f 10 16 11
+f 11 16 17
+f 12 18 14
+f 12 14 13
+f 12 19 20
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+f 14 18 22
+f 15 24 32
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+f 15 34 30
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+f 18 21 22
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+f 21 29 22
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+f 24 31 27
+f 24 27 26
+f 24 26 32
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+f 27 31 28
+f 30 34 33
+f 32 33 34
+
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_18.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c41c21af64fcd6011a73816cfbed4996f39c3f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_18.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01057467 -0.00275032 0.00497281
+v -0.01224337 -0.00275032 0.00430020
+v -0.01224337 -0.00342427 0.00424442
+v -0.01224337 -0.00353635 0.00423466
+v -0.01057467 -0.00338374 0.00491098
+v -0.01057467 -0.00234405 0.00496816
+v -0.01224337 -0.00224498 0.00421978
+v -0.01057467 -0.00354785 0.00489402
+v -0.01224337 -0.00392010 0.00417051
+v -0.01057467 -0.00369095 0.00487589
+v -0.01057467 -0.00221096 0.00490146
+v -0.01224337 0.00016714 0.00374101
+v -0.01224337 -0.00408321 0.00413402
+v -0.01221022 -0.00405169 0.00416005
+v -0.01057467 -0.00402267 0.00477130
+v -0.01057467 0.00016714 0.00321692
+v -0.01086019 0.00016714 0.00337333
+v -0.01224337 0.00016714 0.00259869
+v -0.01224337 -0.00431686 0.00402896
+v -0.01163737 -0.00431687 0.00424766
+v -0.01134483 -0.00473815 0.00414888
+v -0.01057467 -0.00433988 0.00461488
+v -0.01057467 0.00016714 0.00259869
+v -0.01224337 -0.00494428 0.00259867
+v -0.01224337 -0.00442343 0.00397271
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_19.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9472bfbfa53e8470aa1f306fed590db983a1251c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_2.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..695637ad1d722ec31b22087119fed5974a1a694a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_2.obj
@@ -0,0 +1,580 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_20.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfc91c896b1e3c12dc489ab4d69b222dccbf6e27
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_21.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd268edee13b9cd3ddac13024e785b2a531f018f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_21.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_22.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..746fa64038a610827362c39b49976d30e8f6d2d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_22.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_3.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f65a0aa06ef64649c705f460ddfcba6640e68d7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_3.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_4.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..362be5fa26be0de04b2b62a886fb2bd89a9dc3d8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_4.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_5.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f61df9bc78dc352f77f899fe500bbfdddc624f8c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_6.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2489b8113f6b496ab8c23cfacb7890ffd8637482
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_6.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_7.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ab6541bedd55d4bebe99f1732e3c78985165c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_7.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_8.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c6251e278eba88c4a08a3272dea9340c5b7b5c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_9.obj b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6947d7e9fa903c2bd854c7d3dfd89a462614d3d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/mesh/nail_clipper_024_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/nail_clipper_024.xml b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/nail_clipper_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ea323aef8580d6b257885704aef5f944c031f83c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/mjcf/nail_clipper_024.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="nail_clipper_024">
+  <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_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/nail_clipper_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/nail_clipper_024_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/nail_clipper_024_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/nail_clipper_024_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/nail_clipper_024_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/nail_clipper_024_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/nail_clipper_024_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/nail_clipper_024_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/nail_clipper_024_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/nail_clipper_024_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/nail_clipper_024_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/nail_clipper_024_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/nail_clipper_024_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/nail_clipper_024_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/nail_clipper_024_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/nail_clipper_024_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/nail_clipper_024_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/nail_clipper_024_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/nail_clipper_024_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/nail_clipper_024_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/nail_clipper_024_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/nail_clipper_024_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/nail_clipper_024_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="nail_clipper_024">
+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" 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/fb8576f9be4b569588d9f90757229b14/nail_clipper_024.urdf b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/nail_clipper_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a2126a9cd07cd21af993249e0c23a2bc34260f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/nail_clipper_024.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="nail_clipper_024">
+   <link name="nail_clipper_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/nail_clipper_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>fb8576f9be4b569588d9f90757229b14</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>nail_clipper</category>
+         <name>metal nail clipper</name>
+         <color>silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>silver metal nail clipper with curved lever and cutting jaws</description>
+         <min_height>0.0278</min_height>
+         <max_height>0.0278</max_height>
+         <real_height>0.0278</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123424</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021347 -0.006284 -0.006431</min>
+            <max>0.028653 0.006285 0.021366</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/nail_clipper_024.usd b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/nail_clipper_024.usd
new file mode 100644
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diff --git a/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/textures/material_0.png b/dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/textures/material_0.png
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