diff --git a/.gitattributes b/.gitattributes
index eb6108071f1f6e577cab7b641d3c2d33345bc1f6..0cf103276cbe5949dee20aae75cc1a780311d4b8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2633,5 +2633,5 @@ dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/mesh/to
 dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/toothbrush_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ef14279d9388537e9aa7353c161cc978/mesh/mouthwash_cup_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ef14279d9388537e9aa7353c161cc978/mouthwash_cup_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/mesh/razor_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/razor_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/dental_floss_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/dental_floss_004.urdf b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/dental_floss_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ed40bfa1e5103d5de0d46a15e73f13e9e21b9286
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/dental_floss_004.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="dental_floss_004">
+   <link name="dental_floss_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/dental_floss_004.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/dental_floss_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>f24138481484510e86491d7a228fd375</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>dental_floss</category>
+         <name>floss container</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular plastic container holding multiple dental floss picks</description>
+         <min_height>0.0821</min_height>
+         <max_height>0.0821</max_height>
+         <real_height>0.0821</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416200914</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/dental_floss_004.usd b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/dental_floss_004.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/dental_floss_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930d986ea3f59ef3e298b661cb02a1bf007e15c29fa9f956cbd10a0b0b497571
+size 5008904
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004.glb b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..54be77974209e3b9882b881943721a4ea4a6e234
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c6dcd27c4660d9a24eb7c4c970c03e72f57e76214d3f481715c88b0eec313a0
+size 15815440
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004.mtl b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01e6bbece2db101c8abe75ee3e2b2893dfbef913
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004.mtl
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+newmtl dental_floss_004_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab7fa38ced61aec31d117da2b5fb8286958bd75
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004.obj
@@ -0,0 +1,124220 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004_collision.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e838f093f927ebd250daa5d518ac3627ec88a550
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004_collision.obj
@@ -0,0 +1,7190 @@
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diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1eeb82e5161128947820a6d718e2dd13254db692
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/dental_floss_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01ef52fc4a79429fdd02994499c07e05346ef9ca313873ddac5a49988ce2d4a7
+size 12332445
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..083c1b9cf84d3f0db68d77ae8a1bd9362464b916
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl dental_floss_004_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
+map_Kd dental_floss_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1eeb82e5161128947820a6d718e2dd13254db692
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01ef52fc4a79429fdd02994499c07e05346ef9ca313873ddac5a49988ce2d4a7
+size 12332445
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/dental_floss_004.xml b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/dental_floss_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..26b11989f4d361d085f25b42502a13ee7f06871d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/dental_floss_004.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_2" file="mesh/dental_floss_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/dental_floss_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/dental_floss_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/dental_floss_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/dental_floss_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/dental_floss_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/dental_floss_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/dental_floss_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/dental_floss_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/dental_floss_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/dental_floss_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/dental_floss_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/dental_floss_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/dental_floss_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/dental_floss_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/dental_floss_004_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/dental_floss_004_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/dental_floss_004_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/dental_floss_004_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/dental_floss_004_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/dental_floss_004_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/dental_floss_004_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/dental_floss_004_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/dental_floss_004_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/dental_floss_004_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/dental_floss_004_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/dental_floss_004_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/dental_floss_004_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/dental_floss_004_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/dental_floss_004_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/dental_floss_004_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/dental_floss_004_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/dental_floss_004_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/dental_floss_004_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/dental_floss_004_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/dental_floss_004_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/dental_floss_004_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/dental_floss_004_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/dental_floss_004_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/dental_floss_004_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="dental_floss_004">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" 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/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e5f72d39de8a3c716060905c086b47cdddd5ffa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004.obj
@@ -0,0 +1,124220 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaaf89ce10dc0852f4f2b2fc34683c3a4aac26f4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision.obj
@@ -0,0 +1,7190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_0.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7aca0c482f1ded7f6aa4b35e1632c2e9d4a4e20
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_0.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_1.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e84cb56837a790d3fd3c8f25c30b6ba6c8a0da0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_1.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00154999 -0.00469661 -0.03815509
+v -0.00154999 0.04012476 -0.03815492
+v 0.00433605 0.00689147 -0.03816260
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+v 0.01765529 -0.00469689 0.03694661
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+v 0.01765529 0.04447691 -0.03813978
+v 0.01683000 0.04322037 -0.03814734
+v 0.01765529 0.04238268 -0.03814734
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_10.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa82e87f8931dcca5d6c06bbe65f1db8560152d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_10.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01947170 -0.04207464 0.01308656
+v -0.01947170 -0.02243764 0.01308663
+v -0.00154999 -0.04207464 0.01308656
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_11.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662a58b24365fc68678a76980c51be9b68c083d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_11.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.02218627 -0.00470536 0.04395050
+v 0.02329470 -0.00470536 0.04394778
+v 0.02161540 -0.00470536 0.04364624
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_12.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d2e906f187dba95f1a9c49ed603183b71a28c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_12.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00968875 -0.04034591 0.03914341
+v 0.00790511 -0.04034591 0.03913667
+v 0.00790511 -0.04144248 0.03900866
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+v 0.01147438 -0.01922679 0.03904243
+v 0.00968875 -0.01910657 0.03908959
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+v 0.00674783 -0.04138055 0.03898620
+v 0.00790511 -0.01913207 0.03907836
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+v 0.00519286 -0.01943080 0.03895260
+v 0.00519286 -0.01948180 0.03895260
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+v 0.00968875 -0.04191973 0.03888065
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+v 0.01504366 -0.00470534 0.03784769
+v 0.01326002 -0.00470534 0.03830809
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+v -0.00154999 -0.04191973 0.03743208
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_13.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a130013465c3879ad3e1a24a2359436cfee2f35
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_13.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00154999 -0.05189976 0.01308652
+v -0.00154999 -0.02243764 0.01308663
+v -0.00458638 -0.05187668 0.01308652
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+v -0.00154999 -0.05127669 -0.00950014
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+v -0.01351616 -0.05085847 -0.01077008
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+v -0.00459204 -0.05121323 -0.01077008
+v -0.00154999 -0.05123630 -0.01077008
+v -0.02084089 -0.02243748 -0.03104138
+v -0.02084089 -0.04829162 0.01308653
+v -0.00154999 -0.04955186 -0.03104148
+v -0.01656010 -0.05060475 0.01308652
+v -0.01487196 -0.05057582 -0.01077008
+v -0.01481342 -0.05054120 -0.01257995
+v -0.01473789 -0.05050082 -0.01438550
+v -0.01464725 -0.05045466 -0.01619537
+v -0.01351616 -0.05072002 -0.01438550
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+v -0.01909043 -0.04979718 0.01308653
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+v -0.00154999 -0.05093344 -0.01619537
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+v -0.00154999 -0.05102575 -0.01492112
+v -0.00154999 -0.05106036 -0.01438550
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_14.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34c4db530a60ae720f8b6f0bf766afd52c94f5de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_14.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.02625686 0.04685638 -0.01619376
+v 0.02594929 0.05048886 -0.01077319
+v 0.02625414 0.04685630 0.00481636
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+v 0.02625142 0.04685641 -0.02342603
+v 0.02594384 0.05048891 -0.02342601
+v 0.02560905 0.05230550 0.00368770
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+v 0.02623236 0.04448170 -0.02885024
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+v 0.02397047 0.05311611 -0.03249921
+v -0.00154999 0.05140652 -0.01258126
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_15.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ed328f43b9563db667369f4a5e29b9365e535d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_15.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00154999 0.05145436 0.01315834
+v -0.02422640 0.05360261 0.01315835
+v -0.00154999 0.03786988 0.01315829
+v -0.00154999 0.05145905 -0.00354402
+v -0.02422640 0.05361351 -0.01800193
+v -0.02547954 0.05340381 0.01272920
+v -0.02547954 0.05340227 0.01315835
+v -0.02630436 0.03786988 0.01315829
+v -0.00154999 0.03787004 -0.03068325
+v -0.00154999 0.05145906 -0.00535072
+v -0.02422640 0.05360891 -0.02342633
+v -0.02548443 0.05340701 -0.01800193
+v -0.02548443 0.05340697 -0.00896412
+v -0.02631660 0.05230514 -0.01619524
+v -0.02610856 0.05256547 0.01315834
+v -0.02652953 0.05048811 0.01315834
+v -0.02655401 0.05048827 -0.03068320
+v -0.02630436 0.03787004 -0.03068325
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+v -0.00154999 0.05145136 -0.00715743
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+v -0.00154999 0.05136970 -0.01416109
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+v -0.02422640 0.05348873 -0.03065744
+v -0.02530332 0.05330688 -0.03068319
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+f 50 54 51
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_16.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13fa45f1346bf1772fa60d6d27dd479fd4b6e71a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_16.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01860205 -0.00470162 0.01620002
+v 0.01860205 -0.00470145 -0.03067666
+v -0.00154999 -0.00470162 0.01620002
+v 0.01860205 -0.05097054 0.01619985
+v -0.00154999 -0.00470145 -0.03067666
+v 0.01860205 -0.04820386 -0.03067682
+v -0.00154999 -0.05235847 0.01619985
+v 0.01738299 -0.05211079 0.01619985
+v 0.01860205 -0.05212013 0.01619526
+v -0.00154999 -0.04942823 -0.03067682
+v 0.01860205 -0.04919458 -0.02740977
+v 0.01800830 -0.04890951 -0.03067682
+v -0.00154999 -0.05123681 -0.01077168
+v -0.00114955 -0.05238651 0.01619985
+v 0.01325829 -0.05227435 0.01619985
+v 0.01860205 -0.05107791 -0.01259333
+v -0.00104500 -0.04956843 -0.03067682
+v -0.00154999 -0.05059188 -0.01981113
+v 0.01860205 -0.04971331 -0.02524856
+v 0.01825882 -0.04913849 -0.02885058
+v 0.01860205 -0.05009184 -0.02338102
+v 0.01682869 -0.04949365 -0.03067682
+v -0.00154999 -0.05121344 -0.01130395
+v -0.00101936 -0.05126485 -0.01077168
+v -0.00114166 -0.05238651 0.01619526
+v 0.00433624 -0.05244258 0.01619985
+v 0.00433624 -0.05121343 -0.01257957
+v 0.01860205 -0.05099379 -0.01440122
+v -0.00101936 -0.04957310 -0.03067682
+v -0.00154999 -0.05077881 -0.01800324
+v 0.01860205 -0.05044701 -0.02148136
+v 0.01860205 -0.05046103 -0.02139418
+v 0.01784655 -0.05036289 -0.02273862
+v 0.01682869 -0.04970862 -0.02885058
+v -0.00154999 -0.05115735 -0.01257957
+v -0.00101936 -0.05118072 -0.01257957
+v 0.00433624 -0.05111530 -0.01438746
+v 0.01860205 -0.05087696 -0.01620912
+v -0.00002912 -0.05036756 -0.02277993
+v -0.00035065 -0.05036756 -0.02277993
+v -0.00101936 -0.05080218 -0.01800324
+v -0.00154999 -0.05093304 -0.01619535
+v 0.01860205 -0.05074142 -0.01801701
+v 0.00433624 -0.05099846 -0.01619535
+v 0.00433624 -0.05084424 -0.01800324
+v -0.00154999 -0.05112932 -0.01311184
+v -0.00101936 -0.05108259 -0.01438746
+v -0.00101936 -0.05095640 -0.01619535
+v -0.00154999 -0.05105922 -0.01438746
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+f 1 26 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
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+f 1 38 43
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+f 1 21 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
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+f 2 17 10
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+f 4 8 9
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+f 16 27 28
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+f 22 34 29
+f 23 35 24
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+f 29 34 33
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+f 29 41 30
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+f 30 48 42
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+f 41 45 44
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+f 44 47 48
+f 46 49 47
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_17.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51b986b7d3b581ca737c386ac2575378618f465
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_17.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01696757 0.04448157 0.00481635
+v 0.01696757 0.05148753 0.00481638
+v 0.02625261 0.04448157 0.00481635
+v 0.01696757 0.04448149 0.02721057
+v 0.02159872 0.05311295 0.00481639
+v 0.01696757 0.05406411 0.02176769
+v 0.02625352 0.04469191 0.00481635
+v 0.02625352 0.04448157 0.00550027
+v 0.02625988 0.04448149 0.02721057
+v 0.01696757 0.05190155 0.02721060
+v 0.02215362 0.05328573 0.00481639
+v 0.01696757 0.05388381 0.02357615
+v 0.01861590 0.05390634 0.02357615
+v 0.01861590 0.05407350 0.02176769
+v 0.02397115 0.05352518 0.00481639
+v 0.02249020 0.05338996 0.00481639
+v 0.02625443 0.04572388 0.00481636
+v 0.02625988 0.04448150 0.02538238
+v 0.02625988 0.04685625 0.02721058
+v 0.02242561 0.05339176 0.02721061
+v 0.01696757 0.05340585 0.02468315
+v 0.02397115 0.05353731 0.02721061
+v 0.02040158 0.05390916 0.02357615
+v 0.02040158 0.05403031 0.02176769
+v 0.02505002 0.05334864 0.00481639
+v 0.02218546 0.05379555 0.02176769
+v 0.02397115 0.05355047 0.02176769
+v 0.02625534 0.04685633 0.00481636
+v 0.02625988 0.04685626 0.02538239
+v 0.02594787 0.05048834 0.02721060
+v 0.02505184 0.05336077 0.02721061
+v 0.02397115 0.05354952 0.02357615
+v 0.02560856 0.05230540 0.00481638
+v 0.02506275 0.05335889 0.02719088
+v 0.02506275 0.05335889 0.02721061
+v 0.02594787 0.05048842 0.00481638
+v 0.02562948 0.05228654 0.02721060
+v 0.02562584 0.05230532 0.02719087
+v 0.02562584 0.05230532 0.02721060
+f 1 2 5
+f 1 5 11
+f 1 11 16
+f 1 16 15
+f 1 15 25
+f 1 25 33
+f 1 33 36
+f 1 36 28
+f 1 28 17
+f 1 17 7
+f 1 7 3
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+f 1 9 4
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+f 31 35 32
+f 33 34 38
+f 33 38 37
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+f 34 35 39
+f 34 39 38
+f 37 38 39
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_18.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9825b01251dabd55efff433e8655ba2fd7b3e402
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_18.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01887228 0.05323033 -0.03512530
+v -0.01887228 0.05323033 -0.03520625
+v -0.01888246 0.05322883 -0.03512530
+v -0.01888246 0.05269657 -0.03422292
+v -0.00280717 0.05322883 -0.03513050
+v -0.00154999 0.05322883 -0.03513124
+v -0.00994816 0.05246502 -0.03611013
+v -0.01530094 0.05246352 -0.03611088
+v -0.01708746 0.05246202 -0.03611088
+v -0.01887228 0.05245750 -0.03611088
+v -0.01888246 0.05246352 -0.03610345
+v -0.01888246 0.05322883 -0.03520625
+v -0.00154999 0.05322883 -0.03520551
+v -0.00154999 0.05246653 -0.03610939
+v -0.00459199 0.05246653 -0.03610939
+v -0.01888246 0.05269056 -0.03421327
+v -0.00816334 0.05269056 -0.03422664
+v -0.00154999 0.05268003 -0.03422812
+v -0.00280717 0.05155839 -0.03711130
+v -0.00994816 0.05155689 -0.03711055
+v -0.01530094 0.05155539 -0.03710981
+v -0.01708746 0.05155388 -0.03710907
+v -0.01888246 0.05154937 -0.03710461
+v -0.00154999 0.05155839 -0.03711130
+v -0.01888246 0.05022020 -0.03068395
+v -0.00816334 0.05027132 -0.03068395
+v -0.00813449 0.05027132 -0.03068395
+v -0.00154999 0.05020817 -0.03068395
+v -0.00154999 0.05080511 -0.03753315
+v -0.00994816 0.05048786 -0.03771066
+v -0.01351611 0.05048786 -0.03770917
+v -0.01708746 0.05048786 -0.03770323
+v -0.01887228 0.05048786 -0.03769729
+v -0.01530094 0.05048786 -0.03770695
+v -0.01888246 0.05049388 -0.03769358
+v -0.01888246 0.03787004 -0.03068399
+v -0.00154999 0.03787004 -0.03068399
+v -0.00154999 0.05048786 -0.03771066
+v -0.00994816 0.04867157 -0.03826993
+v -0.00280717 0.04867157 -0.03827067
+v -0.01351611 0.04867157 -0.03826844
+v -0.01887228 0.04867157 -0.03826101
+v -0.01888246 0.04868210 -0.03825730
+v -0.01888246 0.05048786 -0.03769655
+v -0.01888246 0.03787007 -0.03815930
+v -0.00154999 0.03787007 -0.03815856
+v -0.00154999 0.04920985 -0.03810430
+v -0.01718246 0.03787007 -0.03816079
+v -0.00154999 0.04867157 -0.03826993
+v -0.01708746 0.03787007 -0.03816079
+v -0.01888246 0.04685529 -0.03824543
+v -0.01888246 0.04867157 -0.03826027
+f 1 2 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 13 14
+f 2 14 15
+f 2 15 7
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+f 3 11 23
+f 3 23 35
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+f 3 51 45
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+f 3 25 16
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+f 4 17 6
+f 4 6 5
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+f 6 46 49
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+f 40 46 50
+f 40 50 48
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+f 41 51 42
+f 42 51 52
+f 42 52 43
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_19.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6640a4a66bcfa4486560114d2a88262a0b915c0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_19.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00154999 -0.05488798 0.02790616
+v -0.00154999 -0.05346205 0.02790616
+v -0.00102041 -0.05491359 0.02790616
+v -0.00154999 -0.05618539 0.03442223
+v -0.00154999 -0.05346209 0.03813869
+v 0.02127760 -0.05346205 0.02790616
+v 0.00433567 -0.05492319 0.02790616
+v -0.00154999 -0.05611551 0.03559458
+v 0.00255031 -0.05618699 0.03442223
+v -0.00154999 -0.05564020 0.03698939
+v -0.00102041 -0.05564420 0.03699239
+v -0.00102041 -0.05346209 0.03814170
+v 0.02121280 -0.05346206 0.03080798
+v 0.01999724 -0.05449618 0.03261561
+v 0.01994808 -0.05434812 0.02790616
+v 0.01861408 -0.05485118 0.02790616
+v -0.00154999 -0.05608510 0.03608556
+v 0.00076495 -0.05608457 0.03609158
+v 0.00255031 -0.05608376 0.03606953
+v 0.01147488 -0.05609657 0.03442223
+v 0.01325800 -0.05602882 0.03595129
+v 0.01147488 -0.05604456 0.03599839
+v -0.00154999 -0.05577489 0.03672185
+v 0.00076495 -0.05564660 0.03699540
+v 0.00076495 -0.05346209 0.03814270
+v 0.02110331 -0.05346207 0.03261561
+v 0.01987210 -0.05442310 0.03442224
+v 0.01845544 -0.05539667 0.03452244
+v 0.01775604 -0.05580343 0.03519178
+v 0.01913025 -0.05466847 0.02790616
+v 0.01730467 -0.05574661 0.03398636
+v 0.01611592 -0.05580982 0.03347733
+v 0.01504336 -0.05600988 0.03442223
+v 0.01325800 -0.05606776 0.03442223
+v -0.00102041 -0.05608457 0.03608857
+v 0.01325800 -0.05551937 0.03685512
+v 0.01147488 -0.05557112 0.03690221
+v 0.01504336 -0.05597947 0.03581101
+v 0.01147488 -0.05346209 0.03812967
+v 0.00969175 -0.05346209 0.03813569
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diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_2.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fecef467372f11617c295699c701d010c3d46414
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_2.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_20.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c4a709c1b3e3fff723d855760864d93946f494
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_20.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_21.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093132a0f90838f52d221eec5682ed080bcee889
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_21.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v -0.01351568 -0.05152506 0.01308910
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+v -0.00154999 -0.05611634 0.02176954
+v -0.00459194 -0.05639409 0.02176954
+v -0.01589084 -0.05614439 0.02176954
+f 1 2 10
+f 1 10 15
+f 1 15 28
+f 1 28 25
+f 1 25 24
+f 1 24 20
+f 1 20 11
+f 1 11 3
+f 1 3 12
+f 1 12 23
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_22.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13038d8bec4bb4eaa1301e7df8e1482e6d81bdc2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_22.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.02658250 0.05048767 0.03803958
+v -0.02657494 0.05048767 0.03752485
+v -0.02653262 0.03786978 0.04165423
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+v -0.02648122 0.05048766 0.03984757
+v -0.02597107 0.05239952 0.03752485
+v -0.02630664 0.03786979 0.03752480
+v -0.02650087 0.03786978 0.04174045
+v -0.02655302 0.04685409 0.04165426
+v -0.02635123 0.04867163 0.04165427
+v -0.02569067 0.05037511 0.04160345
+v -0.02538609 0.05159188 0.04096712
+v -0.02572393 0.05193561 0.03984757
+v -0.02586828 0.05243754 0.03803315
+v -0.02535813 0.05314631 0.03752486
+v -0.02046140 0.03786979 0.03752480
+v -0.02594084 0.03786977 0.04324025
+v -0.02593781 0.04140600 0.04324219
+v -0.02593479 0.04322203 0.04323384
+v -0.02592043 0.04503957 0.04320425
+v -0.02583881 0.04685408 0.04310581
+v -0.02553498 0.04867162 0.04284652
+v -0.02524022 0.04969523 0.04262969
+v -0.02422823 0.05183371 0.04124700
+v -0.02156711 0.05321778 0.04075866
+v -0.02418439 0.05278735 0.03974656
+v -0.02475048 0.05313110 0.03863153
+v -0.02422823 0.05087551 0.04215100
+v -0.02508378 0.05329536 0.03752486
+v -0.02052110 0.03786978 0.03984752
+v -0.01886442 0.04454680 0.03752482
+v -0.01886216 0.04454680 0.03752611
+v -0.01886216 0.04473083 0.03984754
+v -0.02422823 0.03786977 0.04409535
+v -0.02422823 0.03958845 0.04409664
+v -0.02422823 0.04140600 0.04409793
+v -0.02422823 0.04322203 0.04408121
+v -0.02422823 0.04503957 0.04402846
+v -0.02422823 0.04685408 0.04385088
+v -0.02422823 0.04867162 0.04336061
+v -0.02422823 0.04996596 0.04278540
+v -0.02290636 0.05119033 0.04240129
+v -0.02171676 0.05145346 0.04260589
+v -0.02223749 0.05222460 0.04157965
+v -0.02065866 0.05322691 0.04077410
+v -0.02419649 0.05340791 0.03752486
+v -0.02418439 0.05335468 0.03803316
+v -0.02356011 0.05326038 0.03907742
+v -0.02065866 0.05152495 0.04266187
+v -0.02065866 0.05243449 0.04167745
+v -0.01886216 0.05248316 0.04169482
+v -0.02058837 0.03786978 0.04155643
+v -0.01886216 0.04473235 0.03985848
+v -0.01886216 0.04456809 0.03752482
+v -0.02244382 0.03786977 0.04387466
+v -0.01886216 0.04867162 0.04383159
+v -0.02065866 0.04867162 0.04383867
+v -0.02244382 0.04867162 0.04371706
+v -0.02236446 0.05054697 0.04295527
+v -0.02065866 0.05048765 0.04325317
+v -0.01887349 0.05323603 0.04079148
+v -0.01886216 0.05323603 0.04068274
+v -0.02281793 0.05335620 0.03752486
+v -0.01886216 0.05323603 0.04079019
+v -0.01887349 0.05157514 0.04269854
+v -0.01886216 0.05157514 0.04269854
+v -0.02059290 0.03786978 0.04165423
+v -0.01886216 0.04515365 0.04165426
+v -0.01886216 0.04837810 0.03752484
+v -0.02237202 0.03786977 0.04382833
+v -0.01886216 0.04686625 0.04346162
+v -0.01886216 0.05048765 0.04330786
+v -0.01887349 0.05048765 0.04330786
+v -0.01886216 0.05049526 0.04330400
+v -0.01886216 0.05256225 0.03977873
+v -0.02218005 0.05296988 0.03752485
+v -0.02109172 0.03786977 0.04294557
+v -0.01886216 0.04515670 0.04166198
+v -0.01886216 0.04571640 0.04279504
+v -0.02120736 0.05166033 0.03752485
+v -0.01886216 0.05165121 0.03882777
+v -0.02112044 0.03786977 0.04301956
+v -0.01886216 0.04685408 0.04345904
+v -0.01886216 0.04572248 0.04279890
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+f 72 74 73
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_23.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e87740607fb5a328d0dc5d678e171b0310f00ac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_23.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00433560 -0.05346202 0.01902133
+v 0.00433560 -0.05609254 0.02052068
+v -0.00101873 -0.05346202 0.01909004
+v 0.02214733 -0.05346202 0.01935269
+v 0.01861548 -0.05606963 0.02055286
+v 0.00433560 -0.05646262 0.02176870
+v -0.00154999 -0.05589810 0.02074593
+v -0.00154999 -0.05346202 0.01915265
+v 0.02320983 -0.05346202 0.01999365
+v 0.01970996 -0.05593863 0.02070071
+v 0.01861548 -0.05641063 0.02176870
+v 0.00433560 -0.05623324 0.02357593
+v -0.00154999 -0.05603939 0.02357593
+v -0.00154999 -0.05607374 0.02304106
+v -0.00154999 -0.05611721 0.02176870
+v -0.00154999 -0.05346205 0.02790529
+v 0.02357630 -0.05346203 0.02176871
+v 0.01985507 -0.05604731 0.02176870
+v 0.01976653 -0.05598505 0.02319239
+v 0.01866221 -0.05609490 0.02370638
+v 0.01682988 -0.05615188 0.02357593
+v 0.00433560 -0.05492357 0.02790529
+v -0.00101873 -0.05491388 0.02790529
+v -0.00154999 -0.05582028 0.02455608
+v -0.00154999 -0.05588959 0.02426995
+v 0.01809899 -0.05584289 0.02460217
+v 0.01861548 -0.05485132 0.02790529
+v -0.00154999 -0.05488833 0.02790529
+v 0.02127666 -0.05346205 0.02790529
+v 0.02355170 -0.05346203 0.02305586
+v 0.02341889 -0.05346204 0.02485439
+v 0.01994853 -0.05434819 0.02790529
+v 0.01913198 -0.05466834 0.02790529
+v 0.01928938 -0.05575213 0.02439693
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+f 19 34 20
+f 19 31 32
+f 20 34 27
+f 20 27 26
+f 20 26 21
+f 23 28 24
+f 29 32 31
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_24.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca6a12bf8c3b7a6e684c01c150587aef3b2f9e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_24.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01589155 -0.05377641 0.03760687
+v -0.01625953 -0.05377641 0.03757862
+v -0.01589155 -0.05442248 0.03732608
+v -0.01589155 -0.05377634 0.01968871
+v -0.01825201 -0.05387132 0.03719892
+v -0.01825201 -0.05412552 0.03719892
+v -0.01708802 -0.05431246 0.03727663
+v -0.01833535 -0.05377641 0.03710709
+v -0.01589155 -0.05533057 0.03673269
+v -0.01589155 -0.05591219 0.02072536
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+v -0.01887284 -0.05608949 0.02053639
+v -0.01708802 -0.05377634 0.01963573
+v -0.02193183 -0.05377640 0.03566777
+v -0.01885730 -0.05479166 0.03659494
+v -0.01708802 -0.05522055 0.03668147
+v -0.01887284 -0.05593180 0.03561125
+v -0.01589155 -0.05558608 0.03643423
+v -0.01589155 -0.05614554 0.02176908
+v -0.01887284 -0.05643963 0.02176908
+v -0.02017385 -0.05601413 0.02063529
+v -0.01887284 -0.05377634 0.01956685
+v -0.01987367 -0.05584784 0.03543818
+v -0.02254913 -0.05377640 0.03442272
+v -0.01708802 -0.05599593 0.03577726
+v -0.01887284 -0.05602331 0.03442271
+v -0.01589155 -0.05600689 0.03582847
+v -0.01589155 -0.05606581 0.03442271
+v -0.02041823 -0.05615101 0.02176908
+v -0.01708802 -0.05607728 0.03442271
+v -0.01991181 -0.05587183 0.03442271
+v -0.02228568 -0.05377634 0.02022911
+v -0.02217762 -0.05377634 0.02010549
+v -0.02022187 -0.05377634 0.01970460
+v -0.02131099 -0.05550755 0.02176909
+v -0.02309934 -0.05377635 0.02161722
+v -0.02303012 -0.05377636 0.02357751
+v -0.01589155 -0.05603374 0.03538166
+v -0.02303224 -0.05377636 0.02352806
+v -0.02310641 -0.05377635 0.02176909
+f 1 2 3
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+f 24 37 35
+f 25 38 27
+f 25 26 30
+f 25 30 38
+f 28 38 30
+f 35 37 39
+f 35 39 40
+f 35 40 36
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_25.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a7dc71d12b066bc109643a39dcfbfdccbc5153f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_25.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.02661219 0.04867233 -0.03427489
+v -0.02659630 0.05048850 -0.03246689
+v -0.02641167 0.05048851 -0.03427488
+v -0.02651760 0.04685463 -0.03608138
+v -0.02657965 0.04503998 -0.03608138
+v -0.02659176 0.04140610 -0.03608140
+v -0.02659630 0.03787158 -0.03608141
+v -0.02655393 0.05048849 -0.03068320
+v -0.02615514 0.05228021 -0.03068320
+v -0.02565118 0.05048851 -0.03571976
+v -0.02597883 0.04884508 -0.03625837
+v -0.02614379 0.05230619 -0.03068320
+v -0.02580328 0.05240405 -0.03235674
+v -0.02563226 0.05183230 -0.03427488
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+v -0.01888321 0.05322959 -0.03512494
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_26.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493eacc641fbe99c1e4329cea018519dc7872475
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_26.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01696757 0.05190159 0.02719435
+v 0.00968634 0.05196819 0.02719435
+v 0.01696757 0.04448149 0.02719432
+v 0.01696757 0.05340531 0.02468406
+v 0.00076290 0.05198976 0.02719435
+v -0.00154999 0.04448149 0.02719432
+v 0.01696757 0.04448157 0.00481635
+v 0.01696757 0.05388373 0.02357568
+v -0.00154999 0.05386309 0.02357568
+v -0.00102071 0.05338468 0.02466654
+v -0.00102252 0.05196819 0.02719435
+v -0.00154999 0.05338374 0.02466654
+v -0.00154999 0.05194474 0.02719435
+v -0.00154999 0.04448157 0.00481635
+v 0.01696757 0.05148798 0.00481638
+v 0.01696757 0.05406385 0.02176853
+v 0.01682981 0.05406385 0.02176853
+v -0.00154999 0.05404415 0.02176853
+v -0.00154999 0.05143639 0.00481638
+v 0.01498820 0.05153676 0.00481638
+v 0.00968815 0.05158085 0.00481638
+v 0.00076471 0.05162775 0.00481638
+v -0.00029204 0.05158929 0.00481638
+v -0.00093551 0.05156396 0.00481638
+v -0.00116390 0.05151706 0.00481638
+v -0.00127266 0.05149455 0.00481638
+f 1 2 5
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+f 1 11 13
+f 1 13 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 16
+f 1 16 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 12
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+f 6 19 14
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+f 17 22 18
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+f 18 25 26
+f 18 26 19
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_27.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7691a4015d0d326fe73764686cfae3ecb118f8c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_27.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00154999 -0.05253623 -0.03568823
+v 0.01860205 -0.05254091 -0.03568302
+v -0.00154999 -0.05253623 -0.03434070
+v -0.00154999 -0.05174021 -0.03659304
+v 0.01860205 -0.05248004 -0.03412491
+v 0.01682869 -0.05253623 -0.03434739
+v 0.00790664 -0.05253623 -0.03434367
+v -0.00101936 -0.05253623 -0.03434070
+v 0.00612144 -0.05174021 -0.03659304
+v 0.01147112 -0.05174021 -0.03659155
+v 0.01325829 -0.05174021 -0.03659081
+v 0.01504349 -0.05173553 -0.03659081
+v 0.01682869 -0.05173085 -0.03659006
+v 0.01860205 -0.05172148 -0.03658634
+v -0.00154999 -0.05221783 -0.03370525
+v -0.00154999 -0.05147330 -0.03682370
+v 0.01860205 -0.05247068 -0.03411301
+v 0.01801028 -0.05206331 -0.03341952
+v -0.00101936 -0.05208204 -0.03343738
+v 0.00968987 -0.05083181 -0.03737061
+v 0.01325829 -0.05083181 -0.03736912
+v 0.01504349 -0.05082712 -0.03736614
+v 0.01682869 -0.05082244 -0.03735870
+v 0.01860205 -0.05081308 -0.03734754
+v -0.00154999 -0.05207736 -0.03343738
+v -0.00154999 -0.05083181 -0.03737135
+v -0.00101936 -0.05083181 -0.03737135
+v 0.01860205 -0.05138436 -0.03317993
+v 0.01800830 -0.04890735 -0.03067682
+v 0.01682869 -0.04949266 -0.03067682
+v -0.00101936 -0.04957226 -0.03067682
+v 0.00076584 -0.04942707 -0.03806408
+v 0.00790664 -0.04942707 -0.03806334
+v 0.01325829 -0.04942707 -0.03805962
+v 0.01504349 -0.04942707 -0.03805590
+v 0.01682869 -0.04942707 -0.03804622
+v 0.01860205 -0.04942707 -0.03803060
+v -0.00104500 -0.04956757 -0.03067682
+v -0.00154999 -0.04942710 -0.03067682
+v -0.00154999 -0.04942707 -0.03806408
+v 0.01860205 -0.04820498 -0.03067682
+v 0.00076584 -0.04761028 -0.03827837
+v 0.01325829 -0.04761028 -0.03827390
+v 0.01860205 -0.04761028 -0.03826646
+v -0.00154999 -0.04128432 -0.03067679
+v -0.00154999 -0.04761028 -0.03827837
+v 0.01860205 -0.04128432 -0.03067679
+v 0.01504349 -0.00470500 -0.03816140
+v 0.01682869 -0.00470500 -0.03815991
+v 0.01860205 -0.00470500 -0.03815321
+v -0.00154999 -0.00470503 -0.03067740
+v -0.00154999 -0.00470500 -0.03816065
+v 0.00255104 -0.00470500 -0.03816140
+v 0.01860205 -0.00470503 -0.03067740
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+f 29 31 30
+f 32 40 46
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+f 36 44 37
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+f 43 49 44
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+f 46 52 53
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+f 48 52 51
+f 48 51 54
+f 48 54 50
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_28.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb180528c0229245580f8e9af2d695c1449edb5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_28.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02630507 0.03786988 0.01315829
+v -0.02653048 0.05048775 0.01315834
+v -0.02116990 0.03786988 0.01315829
+v -0.02630666 0.03786979 0.03752480
+v -0.02657545 0.05048766 0.03752485
+v -0.02630348 0.05230567 0.01315834
+v -0.02116990 0.05226137 0.01315834
+v -0.02116990 0.03786979 0.03752480
+v -0.02597066 0.05240051 0.03752485
+v -0.02623152 0.05230559 0.03622972
+v -0.02630242 0.05230559 0.03442179
+v -0.02632729 0.05230560 0.03261386
+v -0.02632941 0.05230561 0.03080593
+v -0.02548069 0.05340370 0.01315835
+v -0.02550133 0.05341471 0.03080594
+v -0.02297792 0.05341319 0.01315835
+v -0.02116990 0.05403337 0.02176868
+v -0.02116990 0.04905104 0.03752484
+v -0.02535793 0.05314571 0.03752486
+v -0.02538651 0.05335141 0.03622973
+v -0.02546905 0.05339887 0.03442180
+v -0.02549815 0.05341470 0.03261387
+v -0.02422825 0.05369004 0.02176868
+v -0.02422825 0.05360305 0.01315835
+v -0.02116990 0.05400964 0.02228863
+v -0.02244350 0.05392104 0.02176868
+v -0.02422825 0.05359823 0.03442180
+v -0.02422825 0.05353969 0.03622973
+v -0.02117254 0.05066327 0.03752485
+v -0.02116990 0.05181354 0.03310043
+v -0.02508385 0.05329444 0.03752486
+v -0.02525899 0.05328336 0.03742468
+v -0.02422825 0.05361880 0.03261387
+v -0.02422825 0.05368212 0.02357661
+v -0.02116990 0.05389730 0.02357661
+v -0.02281865 0.05335614 0.03752486
+v -0.02419650 0.05340677 0.03752486
+v -0.02120693 0.05166005 0.03752485
+v -0.02116990 0.05219326 0.03145707
+v -0.02116990 0.05380395 0.02409179
+v -0.02218000 0.05296851 0.03752485
+v -0.02190962 0.05260619 0.03752485
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
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+f 21 33 22
+f 21 28 27
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+f 22 34 23
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+f 23 26 24
+f 25 28 36
+f 25 36 35
+f 26 34 33
+f 26 33 27
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+f 28 37 36
+f 29 30 38
+f 30 39 38
+f 31 37 32
+f 35 36 41
+f 35 41 42
+f 35 42 38
+f 35 38 40
+f 38 39 40
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_29.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9c713e80f31700fb6e62c623fe3bb2b25affb34
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_29.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.01530045 0.05323974 0.04079777
+v -0.00994779 0.05323878 0.04079700
+v -0.00815983 0.05323878 0.04079624
+v 0.01943186 0.05323878 0.04045550
+v -0.01530045 0.05323974 0.04067421
+v -0.01708468 0.05323878 0.04079624
+v -0.01530045 0.05249187 0.04170103
+v 0.01325456 0.05249379 0.04169566
+v 0.01325456 0.05323589 0.04079163
+v 0.00611768 0.05323685 0.04079317
+v 0.01861097 0.05323493 0.04079010
+v 0.01943186 0.05323108 0.04078012
+v 0.01943186 0.05323878 0.04039103
+v -0.01708468 0.05323878 0.04067575
+v -0.01886140 0.05323397 0.04078933
+v -0.01708468 0.05249091 0.04169950
+v -0.01530045 0.05158421 0.04270715
+v 0.00968612 0.05158517 0.04270638
+v 0.01325456 0.05158517 0.04270638
+v 0.01504253 0.05249091 0.04169490
+v 0.01696544 0.05254000 0.04162506
+v 0.01861097 0.05246396 0.04169413
+v 0.01943186 0.05299911 0.04105101
+v 0.01943186 0.05301933 0.03996049
+v -0.01886140 0.05323397 0.04068189
+v -0.01886140 0.05248706 0.04168876
+v -0.01708468 0.05158324 0.04270561
+v -0.01530045 0.05048694 0.04331956
+v 0.00433346 0.05048791 0.04332186
+v 0.00968612 0.05048791 0.04332263
+v 0.01325456 0.05048791 0.04332186
+v 0.01504253 0.05048791 0.04331956
+v 0.01504253 0.05158324 0.04270408
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diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_3.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62ce71fb27f5a6433c1f67e395306f894e95ab8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_3.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_30.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4b2eddf3f13b1e81cff29f50c2ae3cddea034c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_30.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_31.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95291672261e700ac4e3cacaf906bff00f9b68fb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_31.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_32.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb90f7f32221fc78e3713f9ed6880cb2956ee1c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_32.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01887253 -0.05377520 0.01956945
+v -0.01708782 -0.05377520 0.01963576
+v -0.02012211 -0.05377520 0.01969604
+v -0.01589126 -0.05077874 0.01308652
+v -0.01589126 -0.05377520 0.01969001
+v -0.02012211 -0.05069857 0.01503652
+v -0.01954557 -0.05023237 0.01375260
+v -0.01891933 -0.05087267 0.01442771
+v -0.01835563 -0.05048551 0.01351449
+v -0.02012211 -0.05377526 0.03616108
+v -0.01656016 -0.05060578 0.01308652
+v -0.01589126 -0.04207464 0.01308656
+v -0.01589126 -0.05377527 0.03760776
+v -0.02012211 -0.04906060 0.01308653
+v -0.01987981 -0.04937903 0.01308653
+v -0.01909038 -0.04979825 0.01308653
+v -0.01871141 -0.04994945 0.01308653
+v -0.01833492 -0.05377527 0.03710745
+v -0.02012211 -0.05254394 0.04124858
+v -0.02012211 -0.04207464 0.01308656
+v -0.01589126 -0.04207473 0.03742094
+v -0.01589126 -0.05254738 0.04127269
+v -0.01887253 -0.05255082 0.04127269
+v -0.01625946 -0.05377527 0.03757762
+v -0.02012211 -0.05230455 0.04151984
+v -0.02012211 -0.04207473 0.03762589
+v -0.02012211 -0.04359014 0.04164946
+v -0.01589126 -0.04483294 0.04263803
+v -0.01589126 -0.05175589 0.04217687
+v -0.01708782 -0.05175474 0.04217687
+v -0.01887253 -0.05175131 0.04217687
+v -0.02012211 -0.05172382 0.04215276
+v -0.02012211 -0.04429345 0.04290627
+v -0.01589126 -0.04579968 0.04321669
+v -0.01589126 -0.05114653 0.04270129
+v -0.01589126 -0.05084758 0.04295747
+v -0.01887253 -0.05084300 0.04295145
+v -0.02012211 -0.05081550 0.04293336
+v -0.02012211 -0.04579968 0.04343369
+v -0.01589126 -0.04761633 0.04384660
+v -0.01589126 -0.04989802 0.04343368
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+v -0.01887253 -0.04943183 0.04366274
+v -0.02012211 -0.04943183 0.04363863
+v -0.02012211 -0.04761633 0.04387674
+v -0.01589126 -0.04943183 0.04366576
+f 1 2 5
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+f 1 10 3
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+f 12 20 26
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+f 13 19 24
+f 18 24 19
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_33.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..294db4e17fea5661047f7ad372d191720c76a2f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_33.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01683069 -0.05346202 0.01925576
+v 0.01861726 -0.05346202 0.01930178
+v 0.01657805 -0.05346202 0.01926118
+v 0.01683069 -0.05211073 0.01620256
+v 0.01861726 -0.05212090 0.01620256
+v 0.01861726 -0.05346208 0.03582109
+v 0.01568131 -0.05346202 0.01929366
+v 0.01568131 -0.05209491 0.01620256
+v 0.01861726 -0.04191965 0.01620260
+v 0.01861726 -0.05255371 0.04126980
+v 0.01571034 -0.05346209 0.03758048
+v 0.01568131 -0.05346209 0.03758860
+v 0.01568131 -0.04191965 0.01620260
+v 0.01861726 -0.04191973 0.03842775
+v 0.01861726 -0.05174588 0.04217385
+v 0.01683069 -0.05175040 0.04217385
+v 0.01568131 -0.05175153 0.04217385
+v 0.01861554 -0.05255371 0.04126980
+v 0.01568131 -0.05254693 0.04126980
+v 0.01568131 -0.04191973 0.03814895
+v 0.01861726 -0.04382689 0.04167043
+v 0.01861726 -0.05083751 0.04294257
+v 0.01683069 -0.05084203 0.04295069
+v 0.01568131 -0.05084316 0.04295340
+v 0.01568131 -0.04483245 0.04263944
+v 0.01861726 -0.04462909 0.04272877
+v 0.01861726 -0.04943200 0.04364904
+v 0.01568131 -0.04943200 0.04365446
+v 0.01568131 -0.04545273 0.04301296
+v 0.01568131 -0.04579959 0.04322139
+v 0.01861554 -0.04579959 0.04331883
+v 0.01861726 -0.04579959 0.04331883
+v 0.01861726 -0.04761636 0.04385206
+v 0.01568131 -0.04878460 0.04372213
+v 0.01568131 -0.04696897 0.04362198
+v 0.01568131 -0.04761636 0.04384123
+f 1 2 6
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+f 31 33 32
+f 33 36 34
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_34.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096ff3a622a31a1c5cb9add134a8908bcce60e36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_34.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00280583 -0.04365001 0.03942700
+v -0.01589085 -0.04365268 0.03942700
+v 0.01568131 -0.04440253 0.04165437
+v 0.01568131 -0.04380498 0.03985093
+v -0.00154801 -0.04366337 0.03942700
+v -0.01589085 -0.05234707 0.03942697
+v -0.01589085 -0.04441055 0.04165394
+v 0.01568131 -0.04467861 0.04228681
+v -0.01589085 -0.04483268 0.04263937
+v 0.01568131 -0.05250204 0.03985090
+v -0.00154801 -0.05272466 0.03942697
+v -0.01589085 -0.05249936 0.03974535
+v -0.01526039 -0.05255457 0.03942697
+v 0.01568131 -0.04483357 0.04263893
+v -0.01589085 -0.04579892 0.04321729
+v 0.01568131 -0.04579892 0.04322161
+v 0.01568131 -0.04545338 0.04301397
+v 0.01568131 -0.05254656 0.04127064
+v 0.01325839 -0.05257595 0.03985090
+v -0.00162527 -0.05272555 0.03942697
+v 0.01147210 -0.05259999 0.03985090
+v -0.01589085 -0.05254656 0.04081513
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+v -0.01530057 -0.04761652 0.04384627
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+v -0.01589085 -0.05114664 0.04270120
+v -0.01589085 -0.05084652 0.04295772
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_35.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b8f1ceca04f083ce7f32f14dc8038ed2011357d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_35.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.01861755 -0.05346202 0.01929966
+v 0.01861755 -0.05212090 0.01620181
+v 0.02218634 -0.05312871 0.01620180
+v 0.02397074 -0.05335128 0.01620180
+v 0.02214825 -0.05346202 0.01935266
+v 0.01861755 -0.05346208 0.03582155
+v 0.01861755 -0.04191965 0.01620185
+v 0.02529802 -0.05278185 0.01620181
+v 0.02541380 -0.05273327 0.01634512
+v 0.02397074 -0.05336711 0.01996124
+v 0.02357562 -0.05346203 0.02176930
+v 0.02321112 -0.05346202 0.01999461
+v 0.01994483 -0.05346208 0.03588437
+v 0.02397074 -0.05323611 0.03625344
+v 0.02070594 -0.05301918 0.03625345
+v 0.02043257 -0.05294010 0.03625345
+v 0.01861755 -0.05343383 0.03582351
+v 0.02621973 -0.04191965 0.01620185
+v 0.01861755 -0.04191972 0.03625349
+v 0.02541380 -0.05273213 0.01620181
+v 0.02397074 -0.05337277 0.02176930
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+v 0.02622794 -0.04579956 0.03622992
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diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_36.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bac572da092a77f8c0955c84e629b48e8f85351
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_36.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_37.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0f587c76483c6a1121a73cd5342642b1012290
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_37.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_38.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7c5f7705e1df1c4ca9e919669220ad716cc2481
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_38.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+f 47 60 59
+f 48 59 49
+f 49 59 61
+f 49 61 50
+f 50 61 62
+f 50 62 51
+f 51 62 63
+f 51 63 64
+f 51 64 52
+f 52 65 53
+f 53 65 66
+f 53 66 55
+f 54 55 66
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_39.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7497a721112760056f622edcff3a44a0c6117a8c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_39.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.02397114 0.05354559 0.03080798
+v 0.02397114 0.05354469 0.03261484
+v 0.02506821 0.05336370 0.03080798
+v 0.02506275 0.05335928 0.02721147
+v 0.02397114 0.05354116 0.02900025
+v 0.02395477 0.05353585 0.02721147
+v 0.02242561 0.05339211 0.02721147
+v 0.02244107 0.05339742 0.03261484
+v 0.02506457 0.05336104 0.03261484
+v 0.02244744 0.05339385 0.03442343
+v 0.02397114 0.05352783 0.03442343
+v 0.02563311 0.05230521 0.03261483
+v 0.02563493 0.05230522 0.03080797
+v 0.02563038 0.05230522 0.02900024
+v 0.02562584 0.05230523 0.02721146
+v 0.02397114 0.05353673 0.02721147
+v 0.01696757 0.05190153 0.02721146
+v 0.01696757 0.05210115 0.03066931
+v 0.02504728 0.05334683 0.03442343
+v 0.02561583 0.05230520 0.03442342
+v 0.02243470 0.05337079 0.03600896
+v 0.02262210 0.05338676 0.03600896
+v 0.02397114 0.05345685 0.03600896
+v 0.02498361 0.05329980 0.03600896
+v 0.02594331 0.05048814 0.03080797
+v 0.02594786 0.05048814 0.02900024
+v 0.02594786 0.05048815 0.02721146
+v 0.02562947 0.05228660 0.02721146
+v 0.01696757 0.04448237 0.02721143
+v 0.01696757 0.05209051 0.03080797
+v 0.02547665 0.05243296 0.03600895
+v 0.02554669 0.05230520 0.03600895
+v 0.02575046 0.05071171 0.03600895
+v 0.02591602 0.05048813 0.03261483
+v 0.01696757 0.05179504 0.03271991
+v 0.02154322 0.05300701 0.03600895
+v 0.02623168 0.04685573 0.03442340
+v 0.02625442 0.04685574 0.03261481
+v 0.02625715 0.04685575 0.03080795
+v 0.02625897 0.04685575 0.02900022
+v 0.02625988 0.04685576 0.02721144
+v 0.01696757 0.04448234 0.03600892
+v 0.02625988 0.04448237 0.02721143
+v 0.02577775 0.05048812 0.03600895
+v 0.01696757 0.05179061 0.03273971
+v 0.01696757 0.05177109 0.03277589
+v 0.01696757 0.05057863 0.03390582
+v 0.01696757 0.04827266 0.03600894
+v 0.02614799 0.04685573 0.03600893
+v 0.02623441 0.04526223 0.03600893
+v 0.02625442 0.04448234 0.03497716
+v 0.02625533 0.04448234 0.03442339
+v 0.02623714 0.04503865 0.03600893
+v 0.02625988 0.04503867 0.02900022
+v 0.02625715 0.04448235 0.03261480
+v 0.02626079 0.04503868 0.02721144
+v 0.02624259 0.04448234 0.03600892
+v 0.02625988 0.04448236 0.02900021
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 11
+f 2 11 9
+f 3 9 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 28
+f 4 28 27
+f 4 27 41
+f 4 41 56
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+f 4 43 29
+f 4 29 17
+f 4 17 7
+f 4 7 6
+f 4 6 16
+f 4 16 5
+f 5 16 6
+f 7 17 18
+f 7 18 8
+f 8 18 10
+f 9 11 19
+f 9 19 20
+f 9 20 12
+f 10 21 11
+f 10 18 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 19
+f 12 20 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 28
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+f 17 29 42
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+f 18 30 21
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+f 21 53 50
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+f 21 33 32
+f 21 32 31
+f 21 31 24
+f 21 24 23
+f 21 23 22
+f 25 34 37
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+f 29 43 58
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+f 29 51 57
+f 29 57 42
+f 33 44 34
+f 34 44 37
+f 35 45 36
+f 36 45 46
+f 36 46 47
+f 36 47 48
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+f 37 49 50
+f 37 50 38
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+f 38 52 39
+f 38 50 53
+f 38 53 51
+f 39 52 40
+f 40 54 56
+f 40 56 41
+f 40 52 55
+f 40 55 54
+f 43 56 58
+f 51 53 57
+f 54 58 56
+f 54 55 58
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_4.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd2549704316527c6d71c8bbeac4691d7fb69d54
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_4.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.01887223 -0.02243745 -0.03815766
+v -0.01530159 0.00507165 -0.03816507
+v -0.00612595 -0.02243745 -0.03815766
+v -0.02018955 -0.02243745 -0.03813513
+v -0.02018955 -0.01901948 -0.03814263
+v -0.01896893 0.03787007 -0.03815744
+v -0.00154999 -0.02164052 -0.03815766
+v -0.00154999 0.03787007 -0.03815744
+v -0.00154999 -0.02243745 -0.03815015
+v -0.02018955 -0.02243772 0.03553004
+v -0.02018955 0.03787007 -0.03814242
+v -0.00154999 0.03786979 0.03705479
+v -0.00154999 -0.02243773 0.03727236
+v -0.01905833 -0.02243772 0.03640120
+v -0.02018955 -0.02243182 0.03659646
+v -0.02018955 0.03786980 0.03657415
+v -0.00254254 0.03786979 0.03744530
+v -0.00154999 0.03753330 0.03714491
+v -0.00154999 -0.02035979 0.03728738
+v -0.00155546 -0.02243773 0.03729488
+v -0.01646748 -0.02243773 0.03722730
+v -0.01627225 -0.02243773 0.03727987
+v -0.01542019 -0.02243773 0.03748263
+v -0.01351719 -0.02243773 0.03792572
+v -0.02018955 -0.02035978 0.03661149
+v -0.02018955 0.03779306 0.03658166
+v -0.01173095 0.03595123 0.03815123
+v -0.01173095 0.03776943 0.03791092
+v -0.01173095 0.03786979 0.03789590
+v -0.00265019 0.03786979 0.03748285
+v -0.00169230 0.03741524 0.03722752
+v -0.00154999 0.03596894 0.03729509
+v -0.00154999 -0.01491110 0.03731745
+v -0.00175434 -0.02243773 0.03737749
+v -0.01173095 -0.02243773 0.03822612
+v -0.01173095 -0.01491110 0.03823366
+v -0.01351719 0.03413304 0.03791091
+v -0.02018955 0.03415076 0.03664173
+v -0.02018955 0.03413305 0.03664173
+v -0.02018955 0.03595124 0.03662671
+v -0.01351719 0.03595123 0.03785083
+v -0.01173095 0.03413304 0.03821131
+v -0.00994837 0.03413304 0.03842910
+v -0.00994837 0.03595123 0.03836151
+v -0.00994837 0.03776943 0.03812120
+v -0.00994837 0.03786979 0.03810618
+v -0.00280710 0.03595123 0.03776071
+v -0.00450940 0.03786979 0.03796349
+v -0.00459151 0.03776943 0.03800104
+v -0.00459151 0.03595123 0.03823384
+v -0.00280710 0.03413304 0.03784332
+v -0.00154999 0.03413304 0.03736269
+v -0.00280710 -0.02243773 0.03777552
+v -0.00994837 -0.02243773 0.03845142
+v -0.00994837 -0.01491110 0.03845145
+v -0.00816214 0.03413304 0.03854175
+v -0.00816214 0.03595123 0.03846665
+v -0.00816214 0.03776943 0.03823385
+v -0.00985167 0.03786979 0.03811369
+v -0.00459151 0.03786979 0.03797851
+v -0.00628103 0.03786979 0.03818128
+v -0.00637774 0.03776943 0.03821132
+v -0.00637774 0.03595123 0.03844412
+v -0.00459151 0.03413304 0.03830894
+v -0.00305889 -0.02243773 0.03785062
+v -0.00459151 -0.02243773 0.03827118
+v -0.00841575 -0.02243773 0.03853403
+v -0.00816214 -0.01491110 0.03855659
+v -0.00637774 0.03413304 0.03851922
+v -0.00816214 0.03786979 0.03821132
+v -0.00806544 0.03786979 0.03821132
+v -0.00637774 0.03786979 0.03818879
+v -0.00637774 -0.02243773 0.03850399
+v -0.00816214 -0.02243773 0.03854154
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+f 1 65 66
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+f 1 73 74
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+f 28 45 46
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+f 49 63 50
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+f 50 69 64
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+f 51 66 65
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+f 61 72 62
+f 62 72 71
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+f 68 74 73
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_40.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572d1bbb3f6a4f97fc2adaa4f27b852d519be916
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_40.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01386000 0.03786979 0.03737159
+v -0.01386000 0.03786979 0.03837159
+v -0.01386000 0.04086565 0.03737159
+v -0.01386000 0.04086565 0.03837159
+v -0.00280718 0.03786979 0.03737159
+v -0.00280718 0.03786979 0.03837159
+v -0.00280718 0.04086565 0.03737159
+v -0.00280718 0.04086565 0.03837159
+f 2 4 1
+f 5 2 1
+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/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_41.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81da6b947e39cb728b9352bf0dde8eaff883a201
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_41.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01568131 -0.04380486 0.03985021
+v 0.01568131 -0.05250180 0.03985018
+v 0.01568131 -0.04192040 0.03815099
+v 0.01504205 -0.04192040 0.03828989
+v 0.01325078 -0.04192040 0.03860705
+v 0.01161131 -0.04192040 0.03881077
+v 0.01142746 -0.04192040 0.03882697
+v 0.00968848 -0.04192040 0.03887790
+v 0.00790395 -0.04192040 0.03888717
+v 0.01147132 -0.04380373 0.03985021
+v 0.01325922 -0.05257523 0.03985018
+v 0.01325922 -0.05346209 0.03808843
+v 0.01481435 -0.05346209 0.03781526
+v 0.01568131 -0.05346209 0.03758607
+v 0.01568131 -0.04192032 0.01619989
+v 0.00626617 -0.04192040 0.03875752
+v -0.00154999 -0.04381503 0.03985021
+v 0.00790058 -0.04380486 0.03985021
+v 0.01147469 -0.05260009 0.03985018
+v 0.01284091 -0.05346209 0.03809769
+v 0.01568131 -0.05346202 0.01929735
+v 0.01568131 -0.05209499 0.01619985
+v -0.00154999 -0.04192032 0.01619989
+v -0.00154999 -0.04192040 0.03743101
+v -0.00154999 -0.05257975 0.03985018
+v 0.00968848 -0.05260460 0.03985018
+v 0.01147469 -0.05346209 0.03812778
+v 0.01325922 -0.05346202 0.01920243
+v 0.00433490 -0.05244183 0.01619985
+v 0.01325922 -0.05227575 0.01619985
+v -0.00154999 -0.05236049 0.01619985
+v 0.00255037 -0.05259218 0.03985018
+v -0.00154999 -0.05346209 0.03813936
+v 0.00076416 -0.05346209 0.03813936
+v 0.00968848 -0.05346209 0.03813473
+v 0.00433490 -0.05346202 0.01902186
+v -0.00114181 -0.05238873 0.01619985
+v -0.00102036 -0.05346202 0.01909362
+v -0.00154999 -0.05346202 0.01915382
+f 1 2 14
+f 1 14 21
+f 1 21 22
+f 1 22 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 18
+f 1 18 17
+f 1 17 25
+f 1 25 32
+f 1 32 26
+f 1 26 19
+f 1 19 11
+f 1 11 2
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 3 15 23
+f 3 23 24
+f 3 24 16
+f 3 16 9
+f 3 9 8
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+f 3 6 5
+f 3 5 4
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+f 9 18 10
+f 11 19 12
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+f 16 24 17
+f 17 24 23
+f 17 23 31
+f 17 31 39
+f 17 39 33
+f 17 33 25
+f 19 26 27
+f 19 27 20
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 25 33 32
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 28 36 29
+f 29 36 38
+f 29 38 37
+f 31 37 39
+f 37 38 39
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_5.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d55909a96f6740dd9cb1f1493b30b374cf9717
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_5.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01813379 -0.05253798 -0.03568961
+v -0.01708675 -0.05253798 -0.03569103
+v -0.01813379 -0.05253798 -0.03431806
+v -0.01813379 -0.05173353 -0.03659359
+v -0.01708675 -0.05173647 -0.03659430
+v -0.01530110 -0.05173942 -0.03659501
+v -0.01530110 -0.05253798 -0.03569103
+v -0.00459208 -0.05174237 -0.03659288
+v -0.00154999 -0.05253798 -0.03434073
+v -0.00154999 -0.05221975 -0.03370454
+v -0.01351708 -0.05208714 -0.03343321
+v -0.01813379 -0.05195749 -0.03341408
+v -0.01813379 -0.05082594 -0.03735801
+v -0.01708675 -0.05082888 -0.03736226
+v -0.01530110 -0.05083183 -0.03736580
+v -0.01351708 -0.05083183 -0.03736722
+v -0.01173143 -0.05083183 -0.03736863
+v -0.00280643 -0.05083478 -0.03737288
+v -0.00154999 -0.05253798 -0.03568890
+v -0.00154999 -0.05174237 -0.03659288
+v -0.00154999 -0.05207830 -0.03343675
+v -0.00994578 -0.04970622 -0.03104218
+v -0.01351708 -0.04970327 -0.03104218
+v -0.01385148 -0.04960014 -0.03104218
+v -0.01494884 -0.04918760 -0.03104218
+v -0.01813379 -0.04731940 -0.03104217
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+v -0.01708675 -0.04942920 -0.03804732
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+v -0.00154999 -0.02244040 -0.03815703
+v -0.01147981 -0.02244040 -0.03815915
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_6.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041a8a5eb6d13ff03512c99ba9c2fb1e73461390
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_6.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02630293 -0.04207464 0.01308656
+v -0.02630293 -0.03998908 0.01308656
+v -0.01947170 -0.04207464 0.01308656
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+v -0.02652962 -0.04034670 0.04165402
+v -0.02653239 -0.02243774 0.04165409
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+v -0.01947170 -0.04207473 0.03727817
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+v -0.02594008 -0.03853025 0.04323201
+v -0.02594077 -0.03489733 0.04323202
+v -0.02594146 -0.02944987 0.04323204
+v -0.02602509 -0.02243775 0.04301055
+v -0.01947170 -0.02243772 0.03647711
+v -0.01947170 -0.02399853 0.03655903
+v -0.02059688 -0.02243774 0.04165409
+v -0.02054573 -0.04207474 0.04165402
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+v -0.02422813 -0.04034671 0.04407865
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+v -0.02111178 -0.04207475 0.04301958
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+v -0.02244360 -0.03308087 0.04386929
+v -0.02244360 -0.02243775 0.04386933
+v -0.02130806 -0.02243775 0.04313800
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+f 1 19 10
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_7.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f27288457793fc7daeab4fa51a618ef61671d52c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_7.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02422822 -0.05346970 -0.02523177
+v -0.02592663 -0.05280146 -0.01257995
+v -0.02592663 -0.05280144 -0.01800092
+v -0.02592551 -0.05280142 -0.02523176
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+v -0.02422822 -0.05346361 -0.02704164
+v -0.02246627 -0.05277407 -0.03104149
+v -0.02255657 -0.05281964 -0.02704163
+v -0.02252870 -0.05281372 0.01308652
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+v -0.02422822 -0.05345769 0.01308651
+v -0.02559218 -0.05292915 0.01308652
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+v -0.02592830 -0.05279853 0.01272800
+v -0.02604870 -0.05249173 0.01308652
+v -0.02653531 -0.05124631 0.01308652
+v -0.02652806 -0.05124615 -0.03065705
+v -0.02590600 -0.05278014 -0.02884718
+v -0.02422822 -0.05343323 -0.02884719
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+v -0.02422822 -0.05328742 -0.03104150
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+v -0.02176004 -0.05124615 -0.03104149
+v -0.02630120 -0.02243764 0.01308663
+v -0.02630231 -0.02243761 0.00549727
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+v -0.02630120 -0.02243748 -0.03104138
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+v -0.02585361 -0.05271331 -0.03065705
+v -0.02581292 -0.05267687 -0.03104149
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+v -0.02084144 -0.04829072 0.01308653
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+v -0.02084144 -0.02243764 0.01308663
+v -0.02084144 -0.02243748 -0.03104138
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+f 25 28 27
+f 25 27 26
+f 29 31 30
+f 33 36 35
+f 33 35 34
+f 33 34 38
+f 33 38 37
+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_8.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e43ebef64b399fbdf093fb181d38c169f8a06981
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_8.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.02659105 -0.04034540 -0.03608227
+v -0.02586172 -0.03853044 -0.03759414
+v -0.02659022 -0.04216337 -0.03608227
+v -0.02658525 -0.04942922 -0.03427470
+v -0.02658359 -0.02243746 -0.03608220
+v -0.02648177 -0.02243746 -0.03629600
+v -0.02586089 -0.02243745 -0.03759553
+v -0.02586172 -0.02763166 -0.03759555
+v -0.02586172 -0.03126459 -0.03759556
+v -0.02586172 -0.03671548 -0.03759485
+v -0.02586089 -0.04034539 -0.03759415
+v -0.02586006 -0.04216336 -0.03758690
+v -0.02657780 -0.04398134 -0.03608228
+v -0.02656124 -0.04579630 -0.03608229
+v -0.02642879 -0.04761427 -0.03608229
+v -0.02585013 -0.04941412 -0.03614245
+v -0.02587082 -0.05131665 -0.03428631
+v -0.02644617 -0.05124721 -0.03246712
+v -0.02651075 -0.05124722 -0.03104149
+v -0.02630047 -0.02243748 -0.03104138
+v -0.02422755 -0.02243745 -0.03844569
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+v -0.02422755 -0.03490053 -0.03844284
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+v -0.02065871 -0.05077608 -0.03732167
+v -0.01813461 -0.05082440 -0.03735791
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+
diff --git a/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_9.obj b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8057121681c991d79d6f0999e7271a01394b41e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/mjcf/mesh/dental_floss_004_collision_9.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.02212806 0.05326997 -0.03249979
+v 0.02397070 0.05311598 -0.03249979
+v 0.02160772 0.05325190 -0.03366064
+v 0.00255102 0.05322868 -0.03520557
+v -0.00154999 0.05322868 -0.03520614
+v -0.00154999 0.05322868 -0.03513140
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+v -0.00101892 0.05115376 -0.03249980
+v 0.02477802 0.05262994 -0.03249980
+v 0.02397070 0.05303598 -0.03279993
+v 0.02077089 0.05315556 -0.03486577
+v 0.02279860 0.05317362 -0.03317882
+v 0.01958269 0.05322008 -0.03518832
+v 0.01861444 0.05322352 -0.03519580
+v 0.01682812 0.05322610 -0.03519982
+v 0.01504449 0.05322696 -0.03520269
+v 0.01147723 0.05322782 -0.03520385
+v 0.00433466 0.05246909 -0.03610827
+v -0.00154999 0.05269275 -0.03584149
+v 0.00255102 0.05246823 -0.03610885
+v -0.00154999 0.05091806 -0.03249980
+v 0.02528763 0.05230821 -0.03249980
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+v 0.02517498 0.05175164 -0.03427471
+v 0.02493091 0.05146088 -0.03525330
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+v 0.01861444 0.05152713 -0.03708859
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