diff --git a/.gitattributes b/.gitattributes
index 74d8205575a0a25a06800c73a948fb42de7c9a9f..4ac9c8d2c5147459e8f516b3108bd6d832254d52 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2575,5 +2575,5 @@ dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/comb_00
 dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/mesh/comb_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/mesh/toothbrush_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/toothbrush_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/dental_floss_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mouthwash_cup_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8686b90b4df485980bde14993d8c3ef6eebf8e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008.glb b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008.glb
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008.mtl b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..572b4703c4e889d9f4270fc2f64a6ea70085ac8e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98757d6a50c19fa65d407eea8b6f75ba08ccd81d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008_collision.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6954cf7eff7a3c2e0d4c97e90749019a8291127f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008_collision.obj
@@ -0,0 +1,16755 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mesh/mouthwash_cup_008_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fab1add6365b9ce4ed3fab218c42fc7f37545af
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision.obj
@@ -0,0 +1,16755 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_0.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eebe1acdea7f42aa6d0eb2beff22d256f3f1ce6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_1.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..498de9ac3530531d18bdb46955e07249e81c9a16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_10.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0d37146b17392267d1be77e91847c52aff45c8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_11.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa94df998eb00a49ed52e89e96e1d097e493404b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_11.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_12.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e3b082b10bd9867b7c8849bff4ab07815d5b43
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_12.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_13.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa9f95dc28a3a1e4ee52534d71afa965400c021
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_13.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_14.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5385e2344570670c0083e754de8148a129771fdd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_14.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_15.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7407bff715c689bc2c70be6d360555d6965f38
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_15.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_16.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c192d29b645f3363cb2a835c4f35c8775b874e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_16.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_17.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f08b4bd38a47f4a3741eb42faf377ceadbf2d80c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_17.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_18.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83f8fa30d3ea44503d6f7fc000378784dc1c1d2f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_18.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_19.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd0207858ad19c222acf73fccdf6d8cadfd68c14
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_19.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_2.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df8e9ebbc5dae27cba2f8bf08d17945fde801bc1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_2.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_20.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9326c840c4fc05c88b8ec85104dff98e6e1b7288
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_20.obj
@@ -0,0 +1,913 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_21.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692e5cb89dc5233cd5a78c4a450838ae3b76e49b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_21.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_22.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4982f09cfa402611b96aee0e0ff377c9c81f8e62
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_22.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_23.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce272c7014ccc596141d9771946c524beb5a343
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_23.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_24.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe49d3d4720891314b46c9e8a402e2b9f9277de0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_24.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_25.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfbffaa27e6c29e96dbc2bb7773ba05d94bc00f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_25.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_26.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e49433842abb6a702d78e04d5d6b6f62b375c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_26.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_27.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0d0093657e3233fda1db3ba00254c9186e0bffd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_27.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_28.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28c316d4d857b356a05623dc372800a11da42407
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_28.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_29.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eabf8adfcf722c3281d77319d61a8a104fd9fee3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_29.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_3.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8454e2870d39bc767e3f5983461755332e2817d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_3.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_30.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de4d1ba3d9eb2219f58859f0572be743068e888c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_30.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_4.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f66bf947c3c7e1a6d1b8a32578795713c65b5332
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_4.obj
@@ -0,0 +1,715 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_5.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a47757435746fdea5215f4e5df99673f05de9cca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_5.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_6.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05001548a700c7d19742daa0653ad832427ef0de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_6.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_7.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095835b26b3ade5b43f6c272891fbbcbedf963d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_8.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa5dbe20dad555d0d1ffb4ed9c450191371d54b4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_9.obj b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ddc2ce57df8a71c04c6f7ec6238a23248e2e677
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mesh/mouthwash_cup_008_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mouthwash_cup_008.xml b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mouthwash_cup_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cce5913a0aad63a367709633940cd40d282073a7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mjcf/mouthwash_cup_008.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_008">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mouthwash_cup_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mouthwash_cup_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mouthwash_cup_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mouthwash_cup_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mouthwash_cup_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mouthwash_cup_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mouthwash_cup_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mouthwash_cup_008_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mouthwash_cup_008_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mouthwash_cup_008_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mouthwash_cup_008_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mouthwash_cup_008_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mouthwash_cup_008_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mouthwash_cup_008_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_008">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_30" 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/a012e07021795fee9e5992eed9653d8c/mouthwash_cup_008.urdf b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mouthwash_cup_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c2191b6874743c860da50d2a6f102bb152c4abd4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mouthwash_cup_008.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_008">
+   <link name="mouthwash_cup_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_008.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>a012e07021795fee9e5992eed9653d8c</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>gray mouthwash cup</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>gray cylindrical cup with slightly tapered sides</description>
+         <min_height>0.1400</min_height>
+         <max_height>0.1400</max_height>
+         <real_height>0.1400</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414144201</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mouthwash_cup_008.usd b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mouthwash_cup_008.usd
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+++ b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/mouthwash_cup_008.usd
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+size 4863268
diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/textures/material_0.png b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/video.mp4 b/dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/video.mp4
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