diff --git a/.gitattributes b/.gitattributes
index 6604744b50c92d655cfa51bfc5c71746d075b65c..2b12b9fc219448ca4cb41b20979f3bdcd1438363 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2473,3 +2473,5 @@ dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/hair_cl
 dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/mesh/hair_clip_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/dental_floss_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/mesh/dental_floss_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23aaa600527427fd2475f1a3fcf3fc908ac6957c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.glb b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.glb
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.glb
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.mtl b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..616ee814c7c528078529d35c0baa360dc877e284
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01f03cd90251aec9b9881a436464512b614de517
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.obj
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036_collision.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3a04089b7f0e9b7260bc77713b59135d15dd3f6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036_collision.obj
@@ -0,0 +1,23018 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036.obj
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31815be48ca33dba253ee4253e7e819e574a966f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision.obj
@@ -0,0 +1,23018 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_0.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a775aa15d8b6c76da3fd9dfa1b3a8eea46203fb8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_0.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_1.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4dcabf1702877f4b9251a8d821ed5370ebf7c0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_1.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_10.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc1d2bf571f20cc5d122028fbbc306d101284b3a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_10.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_11.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3bda71aa00d91863e4558438ab650c150988649
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_11.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_12.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d43fe8daaac139f35483647a358477f33142f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_12.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_13.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdfb17b0ecc4a2e89fc6e69de3699500804bff43
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_13.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_14.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b26bcbd6c41c295c43e4c5feace4016ce6478c1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_14.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_15.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab5ac0df1eb71d41c9960c92e95cf1f56fd3a62e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_15.obj
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_16.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63eca73d2d2a7d6046fe58d9435948a76e055e54
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_16.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_17.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e7fafb6ec85df1f4c08e540fd330428b25bcf8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_17.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_18.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610e877861b6a67b20467d26214bfcb5822affb4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_18.obj
@@ -0,0 +1,115 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_19.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f649e1da12b96c2cf367c5f19da5990e597815c8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_19.obj
@@ -0,0 +1,511 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_2.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e2825b7cd79e9cd7f3057a7b14c8e7d18ac57d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_2.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.02069896 -0.02294640 0.00516166
+v -0.00001303 -0.03109132 0.00516163
+v 0.02069896 -0.02993007 0.00516163
+v 0.02069896 -0.01953970 -0.02843648
+v -0.00001303 -0.03787577 0.00516160
+v -0.00001303 -0.02854614 -0.02843651
+v 0.01905473 -0.03101953 0.00516163
+v 0.01908919 -0.03117745 -0.00285312
+v 0.02069896 -0.03010414 -0.00302085
+v 0.02069896 -0.02720540 -0.02843651
+v 0.00083848 -0.03786679 0.00516160
+v -0.00001303 -0.03446189 -0.02658167
+v 0.00083848 -0.03446548 -0.02658167
+v -0.00001303 -0.03419984 -0.02843654
+v 0.01277788 -0.03485508 0.00516161
+v 0.02069896 -0.03010414 -0.00303072
+v 0.01766596 -0.03137663 -0.01409417
+v 0.02000355 -0.02772231 -0.02843651
+v 0.02069896 -0.02993541 -0.00469155
+v 0.00280507 -0.03774834 0.00516160
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+v 0.01254270 -0.03497533 0.00516161
+v 0.01354018 -0.03323966 -0.01273920
+v 0.00976515 -0.03329347 -0.02574631
+v 0.01366994 -0.03132274 -0.02843653
+v 0.01422342 -0.03106069 -0.02843652
+v 0.01450117 -0.03092428 -0.02843652
+v 0.01670497 -0.02979893 -0.02843652
+v 0.01688743 -0.02970021 -0.02843652
+v 0.01755445 -0.02933586 -0.02843652
+v 0.01822349 -0.02890869 -0.02843652
+v 0.01839177 -0.02879921 -0.02843652
+v 0.01185338 -0.03530378 0.00516161
+v 0.00784925 -0.03526603 -0.00994703
+v 0.00424047 -0.03740732 0.00516160
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+v 0.00476962 -0.03382832 -0.02843653
+v 0.01255689 -0.03357350 -0.01273920
+v 0.00861967 -0.03340653 -0.02647642
+v 0.00694909 -0.03344961 -0.02843653
+v 0.00777019 -0.03327730 -0.02843653
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+v 0.00867644 -0.03306013 -0.02843653
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+v 0.01066532 -0.03419810 -0.01273921
+v 0.01107486 -0.03556762 0.00516161
+v 0.00489532 -0.03380857 -0.02843653
+v 0.00673621 -0.03372242 -0.02658166
+v 0.00681933 -0.03347294 -0.02843653
+f 1 2 5
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+f 1 20 39
+f 1 39 51
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+f 1 26 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 19
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+f 1 10 4
+f 1 4 2
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_20.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c8da24181c68a98cb903aed4a74924aaa2122c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_20.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00006137 0.03971744 0.04458973
+v -0.00112906 0.03971634 0.04458973
+v -0.00006137 0.03390926 0.04458970
+v -0.00006137 0.03678173 0.00516188
+v -0.00112906 0.03678173 0.00516188
+v -0.00310956 0.03960684 0.04458973
+v -0.00123230 0.03677626 0.00516188
+v -0.00006137 0.03384794 0.04370589
+v -0.01292395 0.03133369 0.04458970
+v -0.01292395 0.03117600 0.04257893
+v -0.01292395 0.02853157 0.00516184
+v -0.00006137 0.03126593 0.00516185
+v -0.00313600 0.03960465 0.04458973
+v -0.00309445 0.03667223 0.00516187
+v -0.00006137 0.03377566 0.04263297
+v -0.01292395 0.03753280 0.04458972
+v -0.01292395 0.03422039 0.00516187
+v -0.00006137 0.03133054 0.00613443
+v -0.00006137 0.03167765 0.01134851
+v -0.00006137 0.03173679 0.01223618
+v -0.00413066 0.03951376 0.04458973
+v -0.00505985 0.03645321 0.00516187
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+v -0.00507370 0.03940206 0.04458972
+v -0.00702524 0.03612579 0.00516187
+v -0.00700258 0.03909983 0.04458972
+v -0.01241529 0.03770910 0.04458972
+v -0.01094848 0.03513258 0.00516187
+v -0.01105928 0.03509534 0.00516187
+v -0.00874260 0.03575019 0.00516187
+v -0.00896798 0.03868590 0.04458972
+v -0.00702524 0.03909545 0.04458972
+v -0.01095603 0.03816136 0.04458972
+v -0.00971712 0.03550380 0.00516187
+v -0.00899064 0.03868042 0.04458972
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_21.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d6a3191213624721244e4f6363d41b9105d2b39
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_21.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02384106 0.02037107 0.00516181
+v -0.02384106 0.02811061 0.00516184
+v -0.01292395 0.02853228 0.00516184
+v -0.01292395 0.03117471 0.04257893
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_22.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b96eaa1a00a9e5e2758d935c5de7b9f34ca37a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_22.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03699834 -0.01249038 0.04459757
+v 0.03090065 -0.01249038 0.04459757
+v 0.03699667 -0.01250023 0.04459757
+v 0.03393275 -0.01249024 0.00516169
+v 0.02309520 -0.02367232 0.03880336
+v 0.02368120 -0.02367234 0.04450103
+v 0.02369124 -0.02367234 0.04459753
+v 0.03076001 -0.01249038 0.04263273
+v 0.01989735 -0.02367220 0.00516165
+v 0.01990572 -0.02367220 0.00526973
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+v 0.02813476 -0.01249024 0.00516169
+v 0.03122546 -0.02367234 0.04459753
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+f 32 36 33
+f 33 36 37
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+f 34 38 39
+f 34 39 35
+f 36 40 37
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_23.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39db5f916ecf77f45e6d23e8b36bb78cfecdb891
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_23.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.03190624 -0.00297709 -0.04299285
+v 0.03133803 -0.00297711 -0.03747431
+v 0.03049602 -0.00667665 -0.03747432
+v 0.02998374 -0.00864937 -0.03747433
+v 0.02953918 -0.01015239 -0.03747434
+v 0.02915350 -0.01124098 -0.03747434
+v 0.02900924 -0.01106137 -0.04299288
+v 0.00182921 -0.00297709 -0.04299285
+v 0.02304153 -0.00297711 -0.03747431
+v 0.02849697 -0.01267217 -0.03747435
+v 0.02839687 -0.01256716 -0.04299289
+v 0.00182921 -0.03091566 -0.04299295
+v 0.00182921 -0.00297711 -0.03815123
+v 0.00182921 -0.02345029 -0.03747439
+v 0.02776094 -0.01425256 -0.03747435
+v 0.02722805 -0.01531075 -0.03747436
+v 0.02758723 -0.01416412 -0.04299289
+v 0.00182921 -0.03120303 -0.03747441
+v 0.00280372 -0.03087146 -0.04299295
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_24.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fedde2e6087b26a401c5ccd7fba85ac068aaa531
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_24.obj
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_25.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0320cd54b76e01cda523dc438c5878cfd4dc875
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_25.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_26.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783f4f992b6fc93ace6ffb3ad27422220a8bc26d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_26.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_27.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dca0a96c7d911e497250d0d625c5694fbe74c84
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_27.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_28.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b0de2d803fbd42b8370c64518b829a3ec9013b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_28.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_29.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae9d5142e8781284b1345f8ffa50bc15f8793ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_29.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02478451 0.01865511 0.00516181
+v 0.02478451 0.02695670 0.00516184
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_3.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c046858c4fbd73e5902e210e2efb0b61031d8ccd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_3.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_30.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e76b38e75b4bfcc3d76247eeab56c4322440db
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_30.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_31.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e7d219fca2038246179e0bb2a6d52d12416b32
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_31.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_32.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abe8283b151bfe7beca182bb0928292d85068ebf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_32.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_33.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf1aab8b40556c5b0a3a4f8b6d5e36bd3bdee258
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_33.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_34.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f91bd20ebbdb8e4fb57d0acebc7a8d3843e75f7d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_34.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_35.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb5cb2e73b35b358af6c46ba8c682d0e7a5b4f86
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_35.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_36.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c565ddb1f899783b76f6388e606b7d97fe4741
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_36.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_37.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bccac6ec5f3754fc9157b0b4f6f70ad91267e4d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_37.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_38.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d8b92f429e9026acc3ce70ff7c12d2ffb6310b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_38.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_39.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66756d1a6e0723e24f946b22f5fc2cb5623d542
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_39.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_4.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6183d48c7ee8ef7f8feaed4b2464c4f9d783a4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_4.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_40.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33df318bf308aa67345b0a9efca6760689fb6e85
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_40.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_41.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843a840c2d70d64607661d5935a39d0ad23816dd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_41.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_42.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2f55ecf4c457aedff4068a8243cf1fe6166c96c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_42.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_43.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35324297ad8df677b77a0ef7a64409a2a9165af9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_43.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_44.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616b2bcc3e50aebdb669cfbee7a2a7a845d6fde6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_44.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_45.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f61bdd00e76c0cc6619883d9ebd3ba9ded068bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_45.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_46.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f350b01ca9bd838a332cf962e609343ae2f92010
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_46.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
+v 0.01298929 0.01481698 -0.04439562
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_47.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a10352be78b6dc48c2308704eddb87b9e381cd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_47.obj
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_48.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70f8df0d2f175d26d4a57c281d3a0a2323122ed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_48.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_49.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a86d3304a3fd355df3f72eba8a5e71caa0a1ac92
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_49.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_5.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..954d34987d1e7dfdf6624a3e2936f951513e0fbb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_50.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae48bad96df54e1cd47250ecf9fc49e3248de601
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_50.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_51.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d5f9feba45227dbf927599a90dd0b5df724e2b1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_51.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_52.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55b9b40c1d4bd26259f8f273480238648ecff10b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_52.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_53.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..016c17ba170828211b9378f2cef5f3b8aeeeb091
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_53.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_54.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb5f9bdb1cf9dd030d58a08c68cffab604a143b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_54.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_55.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94cfbfe66b2d5ba93e96f1e5370f7058d50718b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_55.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_56.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de2c08670f60130a0a34498d901241d6e5185103
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_56.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_57.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05860c7d7a913e756683f59ce5f5182dd76713f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_57.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_58.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb97602917e68a4f2dcb320fdc18e33a2a197a06
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_58.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_59.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc5510a0f5b4696d3ba6c7a2163307f3a7abc680
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_59.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_6.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c417a3ec8ce842c61411f88580e8a0ca0c9b81e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_60.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d02626d8f7062ab8ca18baea4d4103d01c1c08cb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_60.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_61.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..705e2f9df55fe8445dad1166f3056fed86afc681
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_61.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_62.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..635248cdb70daa8b8aab540cf31610a816e315c7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_62.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_63.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..725686e21cf5368d5c5ca1cc389cb5d5c66c3e54
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_63.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_64.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4752fb722fe4c12fd63b7a3de407e7a8215c555
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_64.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_65.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7075571813c1ba9d4a6aa83a6f41d9edf9418cbb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_65.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+v -0.02885103 0.00018723 -0.02843641
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_66.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec22ee897ae09a7ef05d8941c921444ab6fd8dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_66.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03301855 0.00536960 -0.04527100
+v 0.02392275 0.00536960 -0.04527100
+v 0.03240223 0.00536959 -0.04442689
+v 0.03930219 0.00412807 -0.04299363
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_67.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc79db14f78e8e6f2c229712d9ec4d273755ae8d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_67.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01310034 -0.02027880 -0.04515260
+v 0.01310034 -0.03064615 -0.04515264
+v 0.01310034 -0.02479013 -0.04853640
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_68.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..297a483bced4d4b4c8ffd70afdb090925c77eb29
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_68.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.03818418 0.00691162 -0.05761906
+v 0.03818418 0.00705401 -0.05759730
+v 0.03930711 0.00827665 -0.05730356
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_69.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4395a3a6d95e8c1131e88f02cb2ea336d57f40ce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_69.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_7.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8fb991b30595d0d42e5a56938d91e2db05a3dfd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_7.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_70.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..698b21cac9f5312c8c78b2fe739e192e605cb578
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_70.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_71.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..970712f66b8fe4693a3301a37a31a5d0334a7194
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_71.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_72.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e55d38bac06b5e63f1011298059fbe4d4f47f829
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_72.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.03295190 -0.00420906 -0.04574457
+v 0.03230870 -0.00868082 -0.04574674
+v 0.03294996 -0.00422320 -0.04574673
+v 0.03294413 -0.00420906 -0.04574673
+v 0.03203860 -0.00420907 -0.04433435
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+v 0.02471469 -0.00420906 -0.04574673
+v 0.03095818 -0.00420907 -0.04299339
+v 0.03135654 -0.01261217 -0.04574676
+v 0.03035191 -0.00666566 -0.04299339
+v 0.02980392 -0.00868083 -0.04299340
+v 0.02062621 -0.01452835 -0.04574676
+v 0.01310410 -0.00420907 -0.04394271
+v 0.01310410 -0.00420907 -0.04299339
+v 0.03043352 -0.01452835 -0.04574676
+v 0.02929286 -0.01026165 -0.04299341
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+v 0.01310410 -0.01452836 -0.04299342
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+v 0.02739436 -0.01452836 -0.04299342
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+f 1 4 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 5
+f 1 5 2
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+f 2 6 9
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+f 2 4 3
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+f 15 21 22
+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_73.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21f8a216eb85a6bf0dc973b8a0b16aec65aa4987
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_73.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+v -0.03164002 -0.00733106 -0.05094966
+v -0.03223899 -0.00733108 -0.04530959
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+v -0.02872187 -0.00733107 -0.04980185
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+v -0.03223899 -0.00277908 -0.05176036
+v -0.02779054 -0.00733107 -0.04921888
+v -0.02033386 0.01567882 -0.04577276
+v -0.02965441 0.01567882 -0.04530950
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+v -0.03223899 0.01567882 -0.04623732
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+v -0.03223899 0.00312205 -0.05181987
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_74.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee963d41368d4b4949044035400bca7f5404eea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_74.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v 0.04189976 -0.00619572 -0.05103408
+v 0.04154395 -0.00868017 -0.05052569
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+v 0.04163659 -0.00619572 -0.05057108
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+v 0.03251835 -0.00619572 -0.05154021
+v 0.04098603 -0.00619573 -0.04984253
+v 0.04122605 -0.01188646 -0.05108857
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+v 0.03043406 -0.01452835 -0.04574759
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_75.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a646bea120fc83caeb7d6b71a3b2518efc1cdd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_75.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01467165 0.01970448 -0.04511106
+v -0.00152390 0.02421849 -0.04511104
+v -0.01467165 0.03011827 -0.04511102
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+v -0.00506051 0.03277092 -0.04511101
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_76.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f28a4ce264a62282d1e9ec4fb011e969eab9d5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_76.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v 0.03651145 0.00063607 -0.05768105
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_77.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b12b7e67724475ad304123563c6a0b91e291b3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_77.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01467165 -0.03284705 -0.05201404
+v -0.00539078 -0.03142452 -0.05110666
+v -0.00539078 -0.03284705 -0.05148211
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_78.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6d5bc0ed4bfd96e156f3a0ee41d5fa5768b5bff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_78.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_79.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc697e7842c8ec12557ec00b4518f19b767b9cf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_79.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_8.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac9d6ac741cc363ad7d1392f8aa65538dbfdd43
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_8.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_80.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c25a9767a61318bb3043af0c30cf44b7e39d9aa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_80.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_9.obj b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ef0f684ea12d2aa6f275871f9e33d707d47a2e0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mesh/mouthwash_cup_036_collision_9.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mouthwash_cup_036.xml b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mouthwash_cup_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..708a14cfeb016ce55907892e1313a786f773355e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mjcf/mouthwash_cup_036.xml
@@ -0,0 +1,176 @@
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+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_78" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_79" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_80" 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/15b03811004656538927e871982673b2/mouthwash_cup_036.urdf b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mouthwash_cup_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9ad2a871685b33a6212846327973c63abda09cf1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mouthwash_cup_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_036">
+   <link name="mouthwash_cup_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_036.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/mouthwash_cup_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>15b03811004656538927e871982673b2</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>blue flower cup</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>blue tapered mouthwash cup with floral embossing and scalloped base</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123107</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.045162 -0.045270 -0.057885</min>
+            <max>0.044866 0.045616 0.062115</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mouthwash_cup_036.usd b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mouthwash_cup_036.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mouthwash_cup_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6e783f1360a7675fc02198a3c414413535f74c9a3d7be9af7147fba1b3eab51
+size 4740878
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/textures/material_0.png b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9141649
diff --git a/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/video.mp4 b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a1375ca5425ea519a595e6a7cea1faccbd4903c6567a42599a75d4e3b620be
+size 225029