diff --git a/.gitattributes b/.gitattributes
index f3e4e330f2941bfcef36f4ca0e88c95bdb7857af..cf4aea784e48e5ea87aef5014abd76d9953ad86a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2499,7 +2499,5 @@ dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/mesh/ra
dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/razor_011.usd filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/42ea8766722155019b180da3007e6904/mesh/toothbrush_035.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/42ea8766722155019b180da3007e6904/toothbrush_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/47c670995f935657a879fde452a35586/mesh/toothpaste_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/47c670995f935657a879fde452a35586/toothpaste_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/4b98095bca2f5c12aac660bd5b7f6e01/mesh/mouthwash_cup_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/4b98095bca2f5c12aac660bd5b7f6e01/mouthwash_cup_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/comb_010.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/comb_010.urdf b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/comb_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1cd2a5a73dd7786f7abba8244c2ac02d3c21cafc
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/comb_010.usd b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/comb_010.usd
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010.glb b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010.glb
new file mode 100644
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010.mtl b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db28ec77f5613eafa0c341dd844854917c2fa3c4
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+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..312c3056829c2aee06fb51b2738db02c879e63ac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010.obj
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010_collision.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a8ab052f97392df8c8f5f994a4711663b8f0a33
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..717aaea47e81b17330b3c7c80940aed6e2a1b591
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/comb_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6f3507f309c62933e54ce7ffa63f8ffb8c444c254858a3812ea907a2f088f50
+size 7058325
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5d43cd6ba059c8c8beacfb9035f1f4c04545fcb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl comb_010_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd comb_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/material_0.png
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6f3507f309c62933e54ce7ffa63f8ffb8c444c254858a3812ea907a2f088f50
+size 7058325
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/comb_010.xml b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/comb_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ae47d8df6c64a9f2f14ffc596c6de932e8913e20
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/comb_010.xml
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e877406c5869c011cd6e9d033ebfa22dc1d3587
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010.obj
@@ -0,0 +1,130824 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b253b8dcd06a17e3230abf69538cf3c048ee5a6c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision.obj
@@ -0,0 +1,6842 @@
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_0.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..809cc5489892be35457d816ac93f2a4454c02b46
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_1.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c6899bf7bcfc8463de4753b602928a09625836
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_1.obj
@@ -0,0 +1,295 @@
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+f 3 12 11
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+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_10.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d2bf24dde807d532b8b6cfc74075cb3f2d9cd3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_10.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.02572366 0.00157684 0.00588997
+v -0.02543334 -0.00102300 0.00771885
+v -0.02527511 0.00157684 0.00664324
+v -0.02571189 0.00157684 0.00477669
+v -0.02560596 -0.00242081 0.00601956
+v -0.02537188 -0.00847440 0.00769113
+v -0.02543334 -0.00211624 0.00771884
+v -0.02353194 0.00157683 0.00811986
+v -0.02485011 0.00157683 0.00718825
+v -0.01732948 -0.00994566 0.01244001
+v -0.02565827 0.00157685 0.00350833
+v -0.02555889 -0.00225219 0.00398021
+v -0.02537842 -0.00848527 0.00601954
+v -0.02338155 -0.01652951 0.00601951
+v -0.02235108 -0.01837605 0.00776309
+v -0.02268323 -0.01652952 0.00802231
+v -0.01752171 -0.01625214 0.01162359
+v -0.01732948 -0.01323623 0.01209549
+v -0.02225169 0.00157683 0.00852640
+v -0.01421321 -0.01000549 0.01359871
+v -0.01415175 -0.01652954 0.01328520
+v -0.01421321 -0.01309483 0.01354110
+v -0.02525811 0.00157685 0.00279494
+v -0.02531565 -0.00837105 0.00440002
+v -0.02277085 -0.01648055 0.00294552
+v -0.02241908 -0.01841410 0.00399898
+v -0.02252892 -0.01850386 0.00601950
+v -0.01657101 -0.02522916 0.00813859
+v -0.01658931 -0.01890908 0.01137655
+v -0.01611592 -0.00149620 0.01082828
+v -0.02074913 0.00157683 0.00864715
+v -0.01236542 -0.00944799 0.01353226
+v -0.01319450 -0.01190641 0.01385903
+v -0.01319450 -0.01114495 0.01385903
+v -0.01236542 -0.01096819 0.01389337
+v -0.01236542 -0.01633918 0.01353223
+v -0.01236542 -0.02620002 0.00905580
+v -0.01236542 -0.01917832 0.01232478
+v -0.02518357 0.00157685 0.00266423
+v -0.02511688 0.00157685 0.00257671
+v -0.02506457 0.00114445 0.00257670
+v -0.02268847 -0.01628747 0.00257664
+v -0.01658147 -0.02316777 0.00257661
+v -0.01601262 -0.02491912 0.00398899
+v -0.01656708 -0.02522915 0.00601948
+v -0.02226608 -0.01686672 0.00257664
+v -0.01543984 -0.00149620 0.01082828
+v -0.01236542 0.00157685 0.00387942
+v -0.01236542 -0.00716089 0.01192935
+v -0.01236542 -0.01217020 0.01389337
+v -0.01236542 -0.02618913 0.00593750
+v -0.01236542 0.00157685 0.00257671
+v -0.01422890 -0.02428548 0.00257661
+v -0.01236542 -0.02438882 0.00258104
+v -0.01236542 -0.02411687 0.00257661
+v -0.01236803 -0.02438610 0.00257661
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 19
+f 1 19 31
+f 1 31 48
+f 1 48 52
+f 1 52 40
+f 1 40 39
+f 1 39 23
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+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 2 9 3
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+f 2 10 8
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+f 32 49 47
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+f 40 42 41
+f 43 53 44
+f 44 51 45
+f 44 53 51
+f 47 49 48
+f 51 53 54
+f 53 56 54
+f 54 56 55
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_11.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a613d7844066dfd864217f42614ce0442287ac70
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_11.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01787802 0.04420091 0.00257686
+v -0.01754524 0.04319979 0.00257686
+v -0.01978052 0.04420090 0.00660884
+v 0.01197486 0.04420091 0.00257686
+v -0.01933472 0.04319977 0.00702131
+v 0.01197486 0.04319979 0.00257686
+v -0.01971459 0.04319977 0.00913104
+v -0.02009760 0.04420089 0.00915176
+v 0.01197486 0.04420090 0.00488987
+v 0.01197486 0.04319977 0.00758081
+v -0.01940065 0.04319976 0.01187428
+v -0.01947286 0.04420088 0.01165324
+v 0.01173940 0.04420090 0.00528655
+v 0.00174030 0.04319975 0.01265778
+v 0.01129360 0.04420090 0.00580560
+v -0.01746048 0.04319976 0.01208348
+v -0.01746362 0.04420088 0.01177067
+v 0.00174030 0.04335822 0.01222557
+v -0.00461391 0.04319975 0.01257785
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 15
+f 1 15 13
+f 1 13 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 14
+f 2 14 19
+f 2 19 16
+f 2 16 11
+f 2 11 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 15
+f 10 15 14
+f 11 16 12
+f 12 16 17
+f 14 18 17
+f 14 17 19
+f 14 15 18
+f 15 17 18
+f 16 19 17
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_12.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25154fe73d27f8cdbf7c5081ed6878110bd4919a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_12.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00677330 0.05594194 0.01430186
+v -0.00731664 0.05594194 0.01423644
+v -0.00677330 0.05411335 0.01413313
+v -0.00677330 0.05793754 0.01408723
+v -0.00691235 0.05792184 0.01407461
+v -0.00697982 0.05393777 0.01409182
+v -0.01097222 0.06252973 0.01212583
+v -0.01203418 0.06141202 0.01172872
+v -0.01203418 0.05929507 0.01144638
+v -0.00677330 0.05394348 0.01408722
+v -0.00677330 0.06237557 0.00905802
+v -0.00861087 0.06481083 0.01142803
+v -0.01097222 0.06477371 0.01138672
+v -0.01203418 0.05027346 0.00835442
+v -0.01203418 0.06450392 0.01106766
+v -0.01203418 0.06252973 0.01153935
+v -0.01155161 0.05027346 0.00808930
+v -0.00936434 0.05027346 0.00687044
+v -0.00829671 0.05027347 0.00576176
+v -0.00677381 0.05027347 0.00412973
+v -0.00677330 0.05028204 0.00413087
+v -0.00677330 0.06248834 0.00867468
+v -0.00677330 0.06326061 0.00591216
+v -0.00850838 0.06485509 0.00912230
+v -0.01096552 0.06481655 0.00923018
+v -0.01203418 0.06451962 0.01024934
+v -0.01203418 0.05027348 0.00257688
+v -0.00677330 0.05027348 0.00257688
+v -0.00677330 0.06330058 0.00500203
+v -0.00677330 0.06304365 0.00257693
+v -0.00898889 0.06444684 0.00676147
+v -0.00990098 0.06444684 0.00676147
+v -0.01203418 0.06451962 0.00991651
+v -0.01203418 0.06024866 0.00257692
+v -0.00779406 0.06297085 0.00257693
+v -0.01203418 0.06381303 0.00831086
+v -0.01052570 0.06221571 0.00257693
+f 1 2 3
+f 1 3 10
+f 1 10 21
+f 1 21 28
+f 1 28 30
+f 1 30 29
+f 1 29 23
+f 1 23 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
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+f 3 6 10
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+f 8 34 27
+f 8 27 14
+f 8 14 9
+f 10 14 17
+f 10 17 18
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+f 10 19 20
+f 10 20 21
+f 11 22 12
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+f 12 25 13
+f 13 25 26
+f 13 26 15
+f 14 27 28
+f 14 28 20
+f 14 20 19
+f 14 19 18
+f 14 18 17
+f 20 28 21
+f 23 29 24
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+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 25 33 26
+f 25 32 33
+f 27 34 37
+f 27 37 35
+f 27 35 30
+f 27 30 28
+f 30 35 32
+f 30 32 31
+f 32 36 33
+f 32 35 37
+f 32 37 36
+f 34 36 37
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_13.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0feb6b3454a7906fc8ca09752e30eb6b067e90
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_13.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02464999 0.04935273 0.00257688
+v -0.02463528 0.04943417 0.00257688
+v -0.02366411 0.04686569 0.00257687
+v -0.02548873 0.04740839 0.00407184
+v -0.02550712 0.04935273 0.00404665
+v -0.02502154 0.05027289 0.00346252
+v -0.02432259 0.05027289 0.00257688
+v -0.02499579 0.05027289 0.00342202
+v -0.01977943 0.04420090 0.00660814
+v -0.01787756 0.04420091 0.00257686
+v -0.02552920 0.04736856 0.00601952
+v -0.02560645 0.04935272 0.00601953
+v -0.02009580 0.04420089 0.00915164
+v -0.02543723 0.05027288 0.00417805
+v 0.01197486 0.05027289 0.00257688
+v 0.01197486 0.04420091 0.00257686
+v -0.02540044 0.04755341 0.00769539
+v -0.02537101 0.04935271 0.00766480
+v -0.02542251 0.05027287 0.00688627
+v -0.02547034 0.05027288 0.00601953
+v -0.01947410 0.04420088 0.01165375
+v 0.01197486 0.05027289 0.00374243
+v 0.01197486 0.04420090 0.00488996
+v -0.02531583 0.05027287 0.00761350
+v -0.01968379 0.04873451 0.01127395
+v -0.01746555 0.04420088 0.01177165
+v 0.01197486 0.04790116 0.00489718
+v -0.01732576 0.05027286 0.01045852
+v -0.01732576 0.04880881 0.01132345
+v 0.01197486 0.04615595 0.00530849
+v 0.01173942 0.04420090 0.00528688
+v -0.02061817 0.05027286 0.00984469
+v -0.01757591 0.05027286 0.01044862
+v 0.01129430 0.04420090 0.00580620
+v 0.01197486 0.04680743 0.00525269
+f 1 2 7
+f 1 7 15
+f 1 15 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 3 10 9
+f 4 11 12
+f 4 12 5
+f 4 9 13
+f 4 13 11
+f 5 12 14
+f 5 14 6
+f 6 14 20
+f 6 20 19
+f 6 19 24
+f 6 24 32
+f 6 32 33
+f 6 33 28
+f 6 28 22
+f 6 22 15
+f 6 15 7
+f 6 7 8
+f 9 10 16
+f 9 16 23
+f 9 23 31
+f 9 31 34
+f 9 34 26
+f 9 26 21
+f 9 21 13
+f 11 17 12
+f 11 13 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 14
+f 13 21 17
+f 15 22 27
+f 15 27 35
+f 15 35 30
+f 15 30 23
+f 15 23 16
+f 17 21 18
+f 18 24 19
+f 18 21 25
+f 18 25 24
+f 21 26 25
+f 22 28 29
+f 22 29 27
+f 23 30 31
+f 24 25 32
+f 25 26 29
+f 25 29 33
+f 25 33 32
+f 26 34 29
+f 27 29 35
+f 28 33 29
+f 29 34 35
+f 30 35 34
+f 30 34 31
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_14.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..201974ec72c05c5de1cc815f71fec0b2355f1843
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_14.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02547275 0.05027347 0.00601988
+v -0.02543986 0.05027347 0.00417788
+v -0.02542145 0.05027346 0.00688623
+v -0.02527675 0.05100280 0.00757161
+v -0.02535041 0.05111437 0.00601989
+v -0.02537409 0.05114924 0.00430332
+v -0.02502155 0.05027348 0.00346205
+v -0.02531884 0.05027346 0.00761281
+v -0.02062008 0.05027345 0.00984453
+v -0.01651589 0.05810232 0.01097431
+v -0.02250774 0.05594221 0.00796135
+v -0.02216441 0.05764353 0.00763434
+v -0.02345486 0.05275853 0.00257689
+v -0.02354168 0.05259119 0.00257689
+v -0.02499787 0.05027348 0.00342263
+v -0.02216441 0.05764354 0.00654133
+v -0.02254983 0.05539278 0.00354539
+v -0.02230911 0.05482800 0.00257690
+v -0.01758009 0.05027345 0.01044838
+v -0.01651589 0.05660878 0.01097431
+v -0.01203418 0.06141152 0.01172958
+v -0.01203418 0.06252854 0.01153875
+v -0.01268664 0.06433724 0.01087131
+v -0.02432437 0.05027348 0.00257688
+v -0.01268664 0.06433724 0.01033645
+v -0.01203418 0.06451853 0.00991716
+v -0.01203418 0.06381291 0.00830988
+v -0.02050695 0.05757660 0.00449148
+v -0.02071611 0.05625600 0.00257691
+v -0.01733015 0.05027345 0.01045823
+v -0.01203418 0.05929603 0.01144646
+v -0.01203418 0.06450319 0.01106751
+v -0.01203418 0.06451853 0.01024955
+v -0.01203418 0.05027348 0.00257688
+v -0.01203418 0.06024991 0.00257692
+v -0.01684739 0.05836452 0.00257691
+v -0.01872979 0.05750688 0.00257691
+v -0.01424807 0.05027346 0.00939837
+v -0.01315230 0.05027346 0.00896833
+v -0.01203418 0.05027346 0.00835373
+f 1 2 7
+f 1 7 15
+f 1 15 24
+f 1 24 34
+f 1 34 40
+f 1 40 39
+f 1 39 38
+f 1 38 30
+f 1 30 19
+f 1 19 9
+f 1 9 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 12 16
+f 6 16 17
+f 6 17 18
+f 6 18 13
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 12
+f 10 12 11
+f 12 23 25
+f 12 25 16
+f 13 18 29
+f 13 29 37
+f 13 37 36
+f 13 36 35
+f 13 35 34
+f 13 34 24
+f 13 24 14
+f 14 24 15
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 19 30 21
+f 19 21 20
+f 21 31 40
+f 21 40 34
+f 21 34 35
+f 21 35 27
+f 21 27 26
+f 21 26 33
+f 21 33 32
+f 21 32 22
+f 21 30 31
+f 22 32 23
+f 23 32 33
+f 23 33 26
+f 23 26 25
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 28 37 29
+f 30 38 31
+f 31 38 39
+f 31 39 40
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_15.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28a7c6220b0c620816f92797959e67fb1899718
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_15.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01331933 0.05027348 0.00257688
+v 0.02199527 0.05027348 0.00257688
+v 0.01331933 0.05027348 0.00375631
+v 0.01331933 0.05967524 0.00257692
+v 0.02104279 0.05221962 0.00257689
+v 0.02265855 0.05124973 0.00366235
+v 0.02269408 0.05027348 0.00351480
+v 0.01712727 0.05027345 0.00985979
+v 0.01331933 0.05615101 0.01136769
+v 0.01331933 0.06071492 0.00701271
+v 0.01445540 0.05941717 0.00257692
+v 0.01707989 0.05828544 0.00257691
+v 0.02311061 0.05168019 0.00601943
+v 0.02340277 0.05027347 0.00601942
+v 0.02313923 0.05027347 0.00487601
+v 0.01959582 0.05802312 0.00681774
+v 0.01763559 0.05027345 0.01005826
+v 0.01451560 0.05580408 0.01132113
+v 0.01763361 0.05594053 0.01129304
+v 0.01331933 0.05919608 0.01154861
+v 0.01561614 0.05346554 0.01084778
+v 0.01331933 0.06107771 0.00912214
+v 0.01475841 0.05930188 0.00257692
+v 0.02308988 0.05165692 0.00836071
+v 0.01971919 0.05817225 0.00912213
+v 0.02319549 0.05027346 0.00852405
+v 0.02088882 0.05027345 0.00997044
+v 0.01763361 0.05340315 0.01087149
+v 0.01931945 0.05393410 0.01076347
+v 0.01951192 0.05594053 0.01094176
+v 0.01951093 0.05793215 0.01094176
+v 0.01331933 0.06100578 0.01097865
+v 0.02168041 0.05027345 0.00953661
+f 1 2 7
+f 1 7 15
+f 1 15 14
+f 1 14 26
+f 1 26 33
+f 1 33 27
+f 1 27 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 32
+f 1 32 22
+f 1 22 10
+f 1 10 4
+f 1 4 11
+f 1 11 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 4 10 11
+f 5 12 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 12 16
+f 6 16 13
+f 8 17 9
+f 9 18 19
+f 9 19 20
+f 9 17 21
+f 9 21 18
+f 10 22 16
+f 10 16 23
+f 10 23 11
+f 12 23 16
+f 13 24 14
+f 13 16 25
+f 13 25 24
+f 14 24 26
+f 16 22 25
+f 17 27 28
+f 17 28 21
+f 18 21 28
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 22 32 25
+f 24 25 31
+f 24 31 26
+f 25 32 31
+f 26 31 33
+f 27 33 30
+f 27 30 29
+f 27 29 28
+f 30 33 31
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_16.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f3c28a685b11786d4634be667d6fb61035b829
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_16.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00143705 0.06760661 0.01098417
+v -0.00133084 0.06551970 0.01275596
+v 0.00632564 0.06431337 0.01385773
+v 0.00672685 0.06431337 0.01385773
+v 0.00030154 0.06758456 0.01093580
+v -0.00143705 0.06760661 0.01042974
+v -0.00310680 0.06753705 0.01082610
+v -0.00365355 0.06582342 0.01152914
+v -0.00677278 0.05793899 0.01408773
+v -0.00020194 0.06421836 0.01378931
+v -0.00143705 0.05843611 0.01445813
+v 0.00791082 0.06481220 0.01206941
+v 0.00491943 0.05594201 0.01458789
+v 0.00712020 0.05851077 0.01429888
+v 0.01331933 0.05919623 0.01154800
+v 0.01331933 0.06100658 0.01097824
+v 0.01324460 0.06113383 0.01094993
+v 0.00982052 0.06434223 0.01093107
+v 0.00030154 0.06758456 0.01046985
+v 0.00809963 0.06493607 0.00927487
+v -0.00143705 0.06398426 0.00257694
+v -0.00310680 0.06753705 0.01055124
+v -0.00677278 0.06330049 0.00500107
+v -0.00677278 0.06325977 0.00591292
+v -0.00677278 0.06248778 0.00867443
+v -0.00677278 0.06237580 0.00905781
+v -0.00677278 0.05594201 0.01430124
+v -0.00461528 0.05594201 0.01455840
+v -0.00461528 0.05819519 0.01429180
+v -0.00143705 0.05594201 0.01462800
+v 0.00687436 0.05401460 0.01409126
+v 0.00724214 0.05594201 0.01440387
+v 0.01331933 0.05615241 0.01136751
+v 0.01331933 0.06107785 0.00912150
+v 0.00982052 0.06434223 0.01041204
+v 0.00047658 0.06438297 0.00365748
+v 0.00651444 0.06417936 0.00445609
+v 0.01331933 0.05967472 0.00257692
+v -0.00677278 0.06304431 0.00257693
+v 0.00514757 0.06331408 0.00257693
+v -0.00677278 0.05411301 0.01413254
+v -0.00677278 0.05394333 0.01408772
+v 0.01331933 0.05027348 0.00375651
+v 0.00149142 0.05027347 0.00492670
+v 0.01331933 0.06071476 0.00701351
+v 0.00765318 0.06261504 0.00257693
+v 0.00593819 0.06310369 0.00257693
+v 0.01331933 0.05027348 0.00257688
+v -0.00677278 0.05027348 0.00257688
+v -0.00677278 0.05028195 0.00413046
+v -0.00169075 0.05027347 0.00477099
+v -0.00061299 0.05027347 0.00490311
+v -0.00587202 0.05027347 0.00411276
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 19
+f 1 19 6
+f 1 6 22
+f 1 22 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 12 5
+f 4 11 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 12
+f 5 12 18
+f 5 18 20
+f 5 20 19
+f 6 21 22
+f 6 19 21
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 9
+f 7 9 8
+f 9 27 28
+f 9 28 29
+f 9 29 10
+f 9 26 25
+f 9 25 24
+f 9 24 23
+f 9 23 39
+f 9 39 49
+f 9 49 50
+f 9 50 42
+f 9 42 41
+f 9 41 27
+f 10 29 11
+f 11 29 28
+f 11 28 30
+f 11 30 13
+f 13 31 32
+f 13 32 14
+f 13 30 31
+f 14 32 15
+f 15 33 43
+f 15 43 48
+f 15 48 38
+f 15 38 45
+f 15 45 34
+f 15 34 16
+f 15 32 33
+f 16 34 17
+f 17 34 18
+f 18 34 35
+f 18 35 20
+f 19 36 21
+f 19 20 37
+f 19 37 36
+f 20 35 38
+f 20 38 37
+f 21 39 22
+f 21 36 40
+f 21 40 47
+f 21 47 46
+f 21 46 38
+f 21 38 48
+f 21 48 49
+f 21 49 39
+f 22 39 23
+f 27 41 28
+f 28 41 30
+f 30 41 42
+f 30 42 31
+f 31 43 33
+f 31 33 32
+f 31 42 44
+f 31 44 43
+f 34 45 35
+f 35 45 38
+f 36 37 40
+f 37 38 46
+f 37 46 47
+f 37 47 40
+f 42 50 51
+f 42 51 52
+f 42 52 44
+f 43 44 52
+f 43 52 51
+f 43 51 53
+f 43 53 49
+f 43 49 48
+f 49 53 50
+f 50 53 51
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_17.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..181f47c234f339c6ea535d557fcdff2553b9269b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_17.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02674780 0.01951800 0.00626573
+v -0.02558760 0.01951799 0.00789329
+v -0.01416534 0.01951800 0.00626573
+v -0.02650024 0.01311593 0.00626571
+v -0.02587088 0.01311592 0.00807917
+v -0.02419338 0.01951799 0.00935660
+v -0.01416534 0.01161286 0.00626570
+v -0.01416534 0.01951798 0.01195920
+v -0.02550015 0.00157956 0.00626567
+v -0.02572062 0.01084727 0.00795150
+v -0.01904265 0.01451009 0.01386821
+v -0.02257623 0.01951798 0.01089308
+v -0.01491049 0.00668928 0.00626568
+v -0.01416534 0.01306147 0.01219436
+v -0.01421461 0.01951798 0.01216153
+v -0.01416534 0.01487708 0.01383162
+v -0.02003412 0.00157956 0.00626567
+v -0.02527599 0.00157956 0.00664270
+v -0.02485108 0.00157955 0.00718771
+v -0.01732943 0.01444337 0.01389210
+v -0.01904265 0.01497541 0.01386822
+v -0.02248632 0.01951798 0.01096923
+v -0.01981365 0.00413615 0.01125811
+v -0.01526766 0.00445926 0.00626568
+v -0.01416534 0.01306674 0.01220630
+v -0.01729248 0.01951797 0.01246166
+v -0.01732943 0.01502458 0.01389211
+v -0.01416534 0.01460316 0.01382640
+v -0.02074970 0.00157955 0.00864803
+v -0.01572953 0.00486310 0.01068846
+v -0.02353199 0.00157955 0.00811945
+v -0.01730357 0.01951797 0.01246091
+v -0.02049845 0.01951798 0.01211897
+v -0.02225231 0.00157955 0.00852709
+v -0.01732943 0.00430823 0.01112298
+f 1 2 6
+f 1 6 12
+f 1 12 22
+f 1 22 33
+f 1 33 32
+f 1 32 26
+f 1 26 15
+f 1 15 8
+f 1 8 3
+f 1 3 7
+f 1 7 13
+f 1 13 24
+f 1 24 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 8 16
+f 3 16 28
+f 3 28 25
+f 3 25 14
+f 3 14 7
+f 4 9 10
+f 4 10 5
+f 5 11 12
+f 5 12 6
+f 5 10 11
+f 7 14 13
+f 8 15 16
+f 9 17 29
+f 9 29 34
+f 9 34 31
+f 9 31 19
+f 9 19 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 11 20 27
+f 11 27 21
+f 11 21 22
+f 11 22 12
+f 11 19 23
+f 11 23 20
+f 13 14 24
+f 14 25 24
+f 15 26 16
+f 16 27 20
+f 16 20 28
+f 16 26 27
+f 17 24 30
+f 17 30 29
+f 19 31 23
+f 20 23 28
+f 21 27 26
+f 21 26 32
+f 21 32 33
+f 21 33 22
+f 23 31 34
+f 23 34 29
+f 23 29 35
+f 23 35 28
+f 24 25 30
+f 25 28 30
+f 28 35 30
+f 29 30 35
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_18.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..618fe670ecf42d000da53fb3edde1a3aa8bc6ad7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_18.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00148891 -0.01463945 0.00257665
+v 0.00148891 -0.01463946 0.00597122
+v 0.00148891 -0.00665955 0.00257668
+v 0.02287571 -0.01463945 0.00257665
+v 0.00148891 -0.01283823 0.01227308
+v 0.00433776 -0.01463948 0.01224153
+v 0.00148891 -0.00665956 0.00660459
+v 0.02436854 -0.00665955 0.00257668
+v 0.02600537 -0.00888730 0.00674130
+v 0.02328132 -0.01463945 0.00401978
+v 0.00148891 -0.01248985 0.01304314
+v 0.00567459 -0.01463949 0.01428762
+v 0.00148891 -0.00911697 0.01224038
+v 0.00566979 -0.00665958 0.01208732
+v 0.02600777 -0.00665956 0.00667821
+v 0.02600537 -0.00888731 0.00845319
+v 0.02358373 -0.01463946 0.00613598
+v 0.00148891 -0.01126428 0.01336216
+v 0.00809863 -0.01463949 0.01451432
+v 0.00566979 -0.00994341 0.01427828
+v 0.00148891 -0.00997934 0.01332944
+v 0.00614260 -0.00802264 0.01399902
+v 0.00813943 -0.00665959 0.01286088
+v 0.02600777 -0.00665957 0.00845904
+v 0.02288772 -0.00841240 0.01074233
+v 0.02192050 -0.01463948 0.01086618
+v 0.02253251 -0.01463948 0.01042214
+v 0.02311332 -0.01463947 0.00898836
+v 0.01586998 -0.01463949 0.01433203
+v 0.01701480 -0.00994341 0.01434022
+v 0.01482596 -0.00994341 0.01434022
+v 0.01515717 -0.00781955 0.01419299
+v 0.00828104 -0.00665959 0.01287023
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_19.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06fcc5d4cb16a36d3cd7d581c0b5f04812bdb338
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_19.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_2.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a2cc0f6e490efb76fa0c80eb3c3b02af9522d28
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_2.obj
@@ -0,0 +1,1999 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_20.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6726835f0f842e34864ba7be5233579bda7855
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_20.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00225939 0.01951799 0.00718339
+v 0.00225939 0.01951800 0.00626579
+v 0.00129957 0.01951799 0.00926180
+v 0.00225939 0.01951533 0.00739379
+v 0.00225939 0.01073172 0.00626576
+v -0.01416534 0.01951800 0.00626579
+v 0.00103911 0.01564825 0.01437862
+v -0.00072941 0.01951798 0.01220822
+v 0.00225939 0.01593056 0.00731858
+v 0.00225939 0.01295726 0.00692657
+v 0.00093943 0.01311652 0.01432581
+v 0.00031402 0.01136971 0.01390660
+v 0.00219830 0.01072552 0.00626576
+v -0.01416534 0.01161486 0.00626576
+v -0.01416534 0.01951798 0.01195942
+v -0.00098343 0.01951797 0.01254822
+v -0.00143842 0.01951797 0.01263702
+v -0.00143842 0.01572170 0.01443782
+v -0.00134839 0.01307051 0.01438341
+v -0.00022940 0.01136971 0.01390660
+v -0.00143842 0.01047775 0.00626576
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+v -0.00790156 0.01098569 0.00626576
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+v -0.01416534 0.01487838 0.01383141
+v -0.01298686 0.01951798 0.01222502
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+v -0.01416534 0.01306786 0.01220580
+v -0.01097236 0.01539251 0.01417462
+v -0.01063634 0.01951797 0.01246742
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+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_21.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655b1e83f711f967928185e4f0c21b0d31d0a007
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_21.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01236542 -0.02411951 0.00257661
+v -0.01236542 -0.02206353 0.00257662
+v -0.01212040 -0.02448187 0.00257661
+v -0.01236542 -0.02439049 0.00258123
+v -0.01236542 -0.02206355 0.00923951
+v 0.00149218 -0.02079764 0.00257662
+v -0.01053127 -0.02577848 0.00257661
+v -0.01236542 -0.02619047 0.00593803
+v 0.00149218 -0.02079765 0.00504118
+v -0.01236542 -0.02298047 0.00930318
+v -0.01018824 -0.02411403 0.01106923
+v 0.01421568 -0.02079767 0.01185262
+v 0.01127544 -0.02079767 0.01124825
+v 0.00789068 -0.02079766 0.00936038
+v 0.00189821 -0.02079765 0.00538812
+v 0.02221731 -0.02079764 0.00257662
+v -0.00779056 -0.02656621 0.00257660
+v -0.00981021 -0.02825198 0.00706559
+v -0.01236542 -0.02620230 0.00905495
+v -0.01005523 -0.02641421 0.01100371
+v 0.00492245 -0.02641421 0.01200300
+v 0.01740093 -0.02079767 0.01155551
+v 0.02243432 -0.02079764 0.00279162
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+v -0.00178408 -0.02702625 0.00257660
+v -0.00977171 -0.02823701 0.00912138
+v -0.00143756 -0.02704437 0.00257660
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+v 0.01410367 -0.02575170 0.00257661
+v 0.02337940 -0.02079766 0.00698533
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+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_22.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12292467fa8c64586aa968fbbc37819dfbdecd70
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_22.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00759363 0.03233576 0.00257797
+v 0.00759363 0.03233575 0.00593705
+v 0.00759363 0.03619425 0.00257798
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+v 0.02309067 0.03619423 0.00944148
+v 0.02421234 0.03233573 0.01121887
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+v 0.01661693 0.03619421 0.01426780
+v 0.02300413 0.03619422 0.00961545
+v 0.01780350 0.03233572 0.01411786
+v 0.02274285 0.03537727 0.01093047
+v 0.02387617 0.03258802 0.01134247
+v 0.01735750 0.03233572 0.01420141
+f 1 2 5
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+f 1 10 16
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+f 18 23 20
+f 18 22 21
+f 18 21 19
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_23.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d059c36f73fdbd3def405eca2354309f09dbc0d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_23.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01236541 -0.02206315 0.00257662
+v 0.00148891 -0.02206315 0.00257662
+v -0.01236541 -0.02206317 0.00923976
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+v 0.00148891 -0.02206316 0.00596516
+v 0.00148891 0.00157957 0.00257671
+v -0.01092519 -0.02206317 0.00914633
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+v -0.01043970 -0.01852233 0.01399215
+v -0.01236541 -0.01917959 0.01232409
+v -0.01236541 0.00157957 0.00387903
+v -0.00290634 -0.01836033 0.01389417
+v -0.00461643 -0.01867739 0.01410268
+v 0.00148891 -0.01248900 0.01304306
+v 0.00090848 -0.01222054 0.01421664
+v 0.00148891 0.00157956 0.00527023
+v -0.00804069 -0.01622194 0.01413573
+v -0.01097130 -0.01067228 0.01394889
+v -0.01236541 -0.01096620 0.01389306
+v -0.01236541 -0.01216731 0.01389306
+v -0.00143764 -0.01245891 0.01420866
+v -0.00137662 -0.00996643 0.01419044
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+v -0.00143764 0.00157956 0.00505944
+v -0.00027679 -0.00818906 0.01389079
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+v -0.01236541 -0.00944803 0.01353188
+v -0.00587086 0.00157956 0.00466065
+v -0.00303382 0.00157956 0.00492499
+v -0.00476018 0.00157956 0.00476434
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+f 22 31 27
+f 22 27 23
+f 25 27 35
+f 26 34 27
+f 27 30 36
+f 27 36 37
+f 27 37 35
+f 28 33 29
+f 29 33 32
+f 29 32 31
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_24.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e15963ff5a0597e07e4776ca0c8ad33d4d274e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_24.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02610308 0.03233576 0.00257682
+v -0.02603945 0.03040787 0.00257681
+v -0.02849071 0.03116371 0.00740023
+v -0.02849071 0.03135887 0.00740024
+v -0.02777866 0.03233575 0.00649691
+v 0.00246368 0.03233576 0.00257682
+v -0.02473049 0.02694716 0.00602048
+v -0.02294886 0.02694717 0.00257680
+v -0.02342456 0.02694717 0.00309420
+v -0.02849071 0.03116371 0.00762783
+v -0.02849071 0.03135887 0.00762784
+v -0.02777866 0.03233575 0.00654921
+v 0.00246368 0.03233574 0.00687435
+v 0.00246368 0.02694717 0.00257680
+v -0.02366394 0.02694715 0.00937227
+v -0.02193987 0.02694714 0.01077745
+v -0.02027640 0.02694714 0.01204833
+v -0.02266404 0.03058137 0.01121428
+v -0.02721811 0.03233574 0.00810707
+v -0.02266404 0.03197547 0.01121429
+v 0.00246368 0.02694715 0.00750059
+v 0.00067295 0.03233571 0.01564612
+v 0.00127895 0.02694713 0.01454345
+v -0.01360437 0.03036300 0.01418721
+v -0.01360437 0.03197967 0.01418722
+v -0.00133593 0.02694713 0.01458303
+v -0.00143895 0.03100385 0.01698909
+v -0.00303576 0.03121695 0.01688731
+v -0.02192472 0.03233573 0.01140796
+v 0.00062144 0.03233571 0.01587655
+v 0.00035783 0.03158723 0.01701879
+v 0.00035783 0.03094425 0.01701878
+v -0.01383767 0.03233572 0.01357652
+v -0.00303576 0.03125335 0.01688731
+v -0.00143895 0.03151339 0.01698910
+v -0.00151773 0.03233571 0.01621159
+v -0.00231765 0.03233571 0.01604053
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 19
+f 1 19 29
+f 1 29 33
+f 1 33 37
+f 1 37 36
+f 1 36 30
+f 1 30 22
+f 1 22 13
+f 1 13 6
+f 1 6 14
+f 1 14 8
+f 1 8 2
+f 2 7 3
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 3 11 4
+f 3 7 10
+f 4 11 12
+f 4 12 5
+f 6 13 21
+f 6 21 14
+f 7 9 8
+f 7 8 14
+f 7 14 21
+f 7 21 23
+f 7 23 26
+f 7 26 17
+f 7 17 16
+f 7 16 15
+f 7 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 20
+f 10 20 11
+f 11 19 12
+f 11 20 19
+f 13 22 23
+f 13 23 21
+f 17 24 25
+f 17 25 20
+f 17 20 18
+f 17 26 27
+f 17 27 28
+f 17 28 24
+f 19 20 29
+f 20 25 29
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 26
+f 24 28 34
+f 24 34 25
+f 25 33 29
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 33
+f 26 32 27
+f 27 35 34
+f 27 34 28
+f 27 32 31
+f 27 31 35
+f 30 36 31
+f 31 36 35
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_25.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e41454a85a5ae2c8f9d04b956763de436f1c2375
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_25.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00759197 0.03619425 0.00257683
+v 0.00759197 0.03619424 0.00651967
+v 0.00759197 0.04319979 0.00257686
+v 0.02246534 0.03619425 0.00257683
+v 0.00916926 0.03749095 0.01436380
+v 0.00850925 0.03947067 0.01498568
+v 0.00779601 0.03947069 0.01222495
+v 0.00759197 0.03947070 0.00798376
+v 0.01473679 0.03619421 0.01424671
+v 0.00759197 0.04319978 0.00660404
+v 0.02084014 0.04319979 0.00257686
+v 0.02264098 0.03640752 0.00257683
+v 0.02308809 0.03619424 0.00619739
+v 0.01127704 0.03947067 0.01543763
+v 0.00863522 0.04192358 0.01480064
+v 0.00759197 0.04286720 0.00679917
+v 0.00759197 0.04031074 0.00777857
+v 0.01661925 0.03619421 0.01426811
+v 0.01375919 0.04319975 0.01227029
+v 0.02373923 0.04319978 0.00626540
+v 0.02319100 0.04197437 0.00257685
+v 0.02275631 0.03669621 0.00257683
+v 0.02571750 0.04067693 0.00726746
+v 0.02311115 0.03619423 0.00935720
+v 0.01445646 0.03947067 0.01525509
+v 0.01127704 0.04202508 0.01489631
+v 0.01421162 0.04319975 0.01259634
+v 0.01729168 0.03947068 0.01480441
+v 0.02300293 0.03619422 0.00961527
+v 0.02317325 0.04017975 0.01099628
+v 0.02377117 0.04319977 0.00854524
+v 0.02571750 0.04137844 0.00726746
+v 0.02352100 0.03947072 0.00257684
+v 0.02571750 0.04067693 0.00813610
+v 0.02308986 0.03619423 0.00944154
+v 0.01700426 0.04194896 0.01453124
+v 0.01445646 0.04204359 0.01469363
+v 0.01458953 0.04319975 0.01257620
+v 0.02317325 0.04164656 0.01099628
+v 0.02376230 0.04319977 0.00887129
+v 0.02571750 0.04137844 0.00813610
+v 0.01794105 0.04319975 0.01227406
+v 0.02065030 0.04319976 0.01110456
+f 1 2 8
+f 1 8 17
+f 1 17 16
+f 1 16 10
+f 1 10 3
+f 1 3 11
+f 1 11 21
+f 1 21 33
+f 1 33 22
+f 1 22 12
+f 1 12 4
+f 1 4 13
+f 1 13 24
+f 1 24 35
+f 1 35 29
+f 1 29 18
+f 1 18 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 9 5
+f 3 10 19
+f 3 19 27
+f 3 27 38
+f 3 38 42
+f 3 42 43
+f 3 43 40
+f 3 40 31
+f 3 31 20
+f 3 20 11
+f 4 12 13
+f 5 9 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 10 16
+f 7 16 17
+f 7 17 8
+f 7 15 10
+f 9 18 14
+f 10 15 19
+f 11 20 21
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 14 18 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 19
+f 18 28 25
+f 18 29 30
+f 18 30 28
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 22 33 23
+f 23 33 32
+f 23 32 41
+f 23 41 34
+f 23 34 24
+f 24 34 35
+f 25 28 36
+f 25 36 37
+f 25 37 26
+f 26 37 27
+f 27 37 38
+f 28 30 39
+f 28 39 36
+f 29 35 34
+f 29 34 30
+f 30 34 41
+f 30 41 39
+f 31 40 41
+f 31 41 32
+f 36 42 37
+f 36 39 43
+f 36 43 42
+f 37 42 38
+f 39 41 40
+f 39 40 43
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_26.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..068368c4c9b07f240a0ff41128b74ef6bb471d55
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_26.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00148891 -0.02079764 0.00257662
+v 0.00148891 -0.02079765 0.00504192
+v 0.00148891 -0.01464005 0.00257665
+v 0.02222072 -0.02079764 0.00257662
+v 0.00451532 -0.01653226 0.01222434
+v 0.00433717 -0.01464008 0.01224205
+v 0.00148891 -0.01464006 0.00597146
+v 0.00189580 -0.02079765 0.00538872
+v 0.00572941 -0.01883738 0.01426971
+v 0.02287615 -0.01464005 0.00257665
+v 0.02239228 -0.02059570 0.00257662
+v 0.02243847 -0.02079764 0.00279131
+v 0.00566342 -0.01653227 0.01430746
+v 0.00567442 -0.01464009 0.01428742
+v 0.00789145 -0.02079766 0.00936033
+v 0.00809819 -0.02009782 0.01222433
+v 0.01421920 -0.02079767 0.01185394
+v 0.00809819 -0.01894045 0.01434756
+v 0.00809819 -0.01653227 0.01462713
+v 0.02328085 -0.01464005 0.00402045
+v 0.02395607 -0.01653224 0.00601981
+v 0.02290255 -0.01658227 0.00257664
+v 0.02290255 -0.01669861 0.00257664
+v 0.02268920 -0.02079764 0.00355331
+v 0.00809819 -0.01464009 0.01451390
+v 0.01127857 -0.02079767 0.01124882
+v 0.01740397 -0.02079767 0.01155551
+v 0.01445454 -0.01857998 0.01409395
+v 0.01445454 -0.01653227 0.01444193
+v 0.01586877 -0.01464009 0.01433224
+v 0.02358437 -0.01464006 0.00613542
+v 0.02311369 -0.01464007 0.00898879
+v 0.02325885 -0.01625617 0.00917516
+v 0.02328305 -0.01982595 0.00860659
+v 0.02361516 -0.01982594 0.00601980
+v 0.02339302 -0.02079765 0.00601979
+v 0.01997951 -0.02079767 0.01045025
+v 0.01626247 -0.01831113 0.01388753
+v 0.01664957 -0.01653227 0.01408217
+v 0.01680353 -0.01464009 0.01417890
+v 0.02253084 -0.01464008 0.01042197
+v 0.02244507 -0.01483599 0.01070035
+v 0.02244507 -0.01497403 0.01070034
+v 0.02318627 -0.02079766 0.00850042
+v 0.02337982 -0.02079766 0.00698468
+v 0.02192160 -0.01464008 0.01086549
+f 1 2 7
+f 1 7 3
+f 1 3 10
+f 1 10 22
+f 1 22 23
+f 1 23 11
+f 1 11 4
+f 1 4 12
+f 1 12 24
+f 1 24 36
+f 1 36 45
+f 1 45 44
+f 1 44 37
+f 1 37 27
+f 1 27 17
+f 1 17 26
+f 1 26 15
+f 1 15 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 9
+f 2 9 5
+f 3 7 6
+f 3 6 14
+f 3 14 25
+f 3 25 30
+f 3 30 40
+f 3 40 46
+f 3 46 41
+f 3 41 32
+f 3 32 31
+f 3 31 20
+f 3 20 10
+f 4 11 12
+f 5 9 6
+f 6 9 13
+f 6 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 13
+f 10 20 21
+f 10 21 22
+f 11 23 12
+f 12 23 24
+f 13 19 14
+f 14 19 25
+f 15 26 16
+f 16 26 17
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 25
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 23
+f 21 23 22
+f 23 35 24
+f 24 35 36
+f 27 37 38
+f 27 38 28
+f 28 38 29
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 32 41 42
+f 32 42 33
+f 33 43 34
+f 33 42 43
+f 34 43 44
+f 34 44 35
+f 35 44 45
+f 35 45 36
+f 37 44 38
+f 38 44 43
+f 38 43 39
+f 39 43 40
+f 40 43 42
+f 40 42 46
+f 41 46 42
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_3.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1901d5e130dbd05269dea72e8fc9bf6191195eba
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_3.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00225939 0.01133266 0.00257674
+v 0.00225939 0.01133265 0.00644325
+v 0.00225939 0.01951721 0.00257677
+v 0.02330586 0.01133266 0.00257674
+v 0.00638246 0.01139752 0.01387656
+v 0.00577478 0.01311633 0.01430184
+v 0.00225939 0.01295769 0.00692657
+v 0.02142548 0.01133263 0.01117688
+v 0.00225939 0.01951719 0.00718365
+v 0.02344804 0.01951721 0.00257677
+v 0.02338842 0.01133266 0.00266085
+v 0.00674478 0.01139752 0.01387656
+v 0.01445433 0.01332226 0.01467854
+v 0.00529551 0.01951717 0.01435635
+v 0.00779963 0.01951717 0.01453997
+v 0.00769873 0.01951717 0.01453523
+v 0.00225939 0.01593054 0.00731868
+v 0.02204922 0.01133263 0.01117688
+v 0.00225939 0.01951558 0.00739332
+v 0.02483768 0.01951720 0.00595641
+v 0.02568614 0.01536962 0.00734475
+v 0.02568614 0.01429988 0.00734474
+v 0.02355582 0.01133266 0.00283143
+v 0.02299399 0.01133263 0.01103236
+v 0.01468823 0.01951717 0.01458616
+v 0.01466300 0.01951556 0.01458735
+v 0.01465383 0.01951717 0.01458735
+v 0.01665575 0.01371090 0.01443215
+v 0.01733222 0.01951717 0.01439071
+v 0.01721986 0.01951717 0.01440255
+v 0.02498215 0.01951719 0.00701544
+v 0.02568614 0.01536962 0.00812065
+v 0.02568614 0.01429988 0.00812064
+v 0.02471385 0.01133265 0.00607840
+v 0.02371633 0.01133263 0.01019959
+v 0.02480099 0.01316763 0.00914058
+v 0.02319350 0.01311634 0.01098736
+v 0.01886863 0.01951717 0.01356742
+v 0.02422312 0.01951719 0.00921404
+v 0.02323707 0.01525503 0.01100869
+v 0.02463588 0.01133264 0.00905883
+v 0.02069397 0.01951718 0.01208905
+f 1 2 7
+f 1 7 17
+f 1 17 19
+f 1 19 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 23
+f 1 23 34
+f 1 34 41
+f 1 41 35
+f 1 35 24
+f 1 24 18
+f 1 18 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 5
+f 3 9 14
+f 3 14 16
+f 3 16 15
+f 3 15 27
+f 3 27 25
+f 3 25 30
+f 3 30 29
+f 3 29 38
+f 3 38 42
+f 3 42 39
+f 3 39 31
+f 3 31 20
+f 3 20 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 5 8 18
+f 5 18 12
+f 6 14 7
+f 6 13 15
+f 6 15 16
+f 6 16 14
+f 7 14 17
+f 9 19 14
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 12 18 24
+f 12 24 13
+f 13 25 26
+f 13 26 27
+f 13 27 15
+f 13 24 28
+f 13 28 29
+f 13 29 30
+f 13 30 25
+f 14 19 17
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 29
+f 24 29 28
+f 25 27 26
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 33 36 41
+f 33 41 34
+f 33 40 36
+f 35 41 36
+f 36 40 37
+f 37 40 38
+f 38 40 42
+f 39 42 40
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_4.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..173e6e446da7b9dbdf3528bfdf882aa48368c551
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_4.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02710931 0.03946714 0.00257684
+v -0.02708854 0.03921510 0.00257684
+v -0.02725821 0.03946927 0.00291719
+v -0.02609826 0.04168014 0.00257685
+v -0.02778104 0.03233575 0.00649683
+v -0.02610519 0.03233576 0.00257682
+v -0.02778104 0.03233575 0.00654888
+v -0.02659686 0.03946926 0.00560394
+v -0.02611904 0.04169396 0.00520621
+v -0.02617790 0.04173332 0.00291720
+v -0.02594245 0.04173438 0.00257685
+v 0.00759197 0.03233576 0.00257682
+v -0.02721665 0.03233574 0.00810648
+v -0.01910399 0.04135789 0.01394447
+v -0.01939830 0.04319976 0.01187437
+v -0.01971339 0.04319977 0.00913156
+v -0.01933252 0.04319977 0.00702141
+v -0.01754586 0.04319979 0.00257686
+v 0.00759197 0.04319979 0.00257686
+v 0.00759197 0.03233575 0.00593759
+v -0.02192247 0.03233573 0.01140852
+v -0.01910399 0.04034337 0.01394447
+v -0.01414914 0.03946923 0.01477331
+v -0.01414914 0.04189492 0.01443164
+v -0.00461684 0.04233942 0.01499489
+v -0.01745930 0.04319976 0.01208392
+v 0.00759197 0.04319978 0.00660365
+v 0.00759197 0.03946925 0.00798370
+v 0.00434413 0.03946923 0.01463183
+v 0.00062193 0.03233571 0.01587709
+v -0.01383751 0.03233572 0.01357607
+v -0.00231774 0.03233571 0.01604126
+v -0.00151790 0.03233571 0.01621210
+v -0.00461684 0.03946922 0.01568758
+v -0.00143826 0.03946922 0.01585041
+v 0.00174033 0.04232560 0.01504027
+v 0.00174033 0.04319975 0.01265650
+v -0.00461684 0.04319975 0.01257775
+v 0.00438222 0.04197999 0.01464786
+v 0.00759197 0.04286693 0.00679851
+v 0.00219391 0.04319976 0.01222539
+v 0.00759197 0.04031043 0.00777951
+v 0.00174033 0.03946922 0.01567824
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
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+f 5 30 33
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+f 5 31 21
+f 5 21 13
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+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 27
+f 12 27 40
+f 12 40 42
+f 12 42 28
+f 12 28 20
+f 13 21 22
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+f 14 24 15
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+f 15 25 26
+f 15 26 38
+f 15 38 37
+f 15 37 41
+f 15 41 27
+f 15 27 19
+f 15 19 18
+f 15 18 17
+f 15 17 16
+f 20 28 29
+f 20 29 30
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 27 39 40
+f 27 41 39
+f 28 42 39
+f 28 39 29
+f 29 43 30
+f 29 39 43
+f 30 43 33
+f 33 43 35
+f 33 35 34
+f 35 43 36
+f 36 43 39
+f 36 39 37
+f 37 39 41
+f 39 42 40
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_5.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d664a82914cb0bc9ed2397078f42c6b435afc62
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_5.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00225939 0.01951800 0.00626463
+v 0.00225939 0.01073139 0.00626460
+v 0.00225939 0.01951801 0.00257677
+v -0.02674690 0.01951800 0.00626463
+v 0.00225939 0.00157956 0.00530930
+v -0.02003195 0.00157956 0.00626457
+v 0.00225939 0.00157957 0.00257671
+v -0.02688751 0.01951801 0.00257677
+v -0.02692481 0.01951800 0.00601913
+v -0.02650011 0.01311593 0.00626461
+v -0.02549860 0.00157956 0.00626457
+v -0.02511694 0.00157957 0.00257671
+v -0.02560191 0.00389913 0.00257671
+v -0.02698507 0.01951801 0.00275981
+v -0.02705682 0.01951801 0.00289736
+v -0.02658332 0.01311593 0.00601911
+v -0.02572243 0.00157956 0.00588983
+v -0.02518294 0.00157957 0.00266372
+v -0.02525755 0.00157957 0.00279477
+v -0.02565643 0.00157957 0.00350779
+v -0.02572243 0.00353741 0.00305507
+v -0.02571096 0.00157956 0.00477607
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 12
+f 3 12 13
+f 3 13 8
+f 4 9 10
+f 5 6 11
+f 5 11 17
+f 5 17 22
+f 5 22 20
+f 5 20 19
+f 5 19 18
+f 5 18 12
+f 5 12 7
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 19 20
+f 13 20 21
+f 13 21 15
+f 13 15 14
+f 13 18 19
+f 15 21 20
+f 15 20 22
+f 15 22 17
+f 15 17 16
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_6.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..100382d728fc34b821ba1c7c24768db92775ca4b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_6.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00225939 0.00158052 0.00257769
+v 0.00225939 0.00158051 0.00531033
+v 0.00225939 0.01133090 0.00257772
+v 0.02502845 0.00158052 0.00257769
+v 0.00225939 0.01133089 0.00644323
+v 0.01283582 0.00158049 0.01134057
+v 0.02330560 0.01133090 0.00257772
+v 0.02534600 0.00607005 0.00257770
+v 0.02587684 0.00412742 0.00394991
+v 0.02616832 0.00158051 0.00595474
+v 0.01416765 0.00343243 0.01159558
+v 0.01768443 0.00652823 0.01192418
+v 0.02142635 0.01133087 0.01117777
+v 0.01629336 0.00158049 0.01173192
+v 0.01786928 0.00297422 0.01201440
+v 0.02081020 0.00652727 0.01259606
+v 0.02338855 0.01133090 0.00266012
+v 0.02535785 0.00652731 0.00257770
+v 0.02588158 0.00652731 0.00380474
+v 0.02646929 0.00652730 0.00601949
+v 0.02614700 0.00158050 0.00734460
+v 0.02204961 0.01133087 0.01117777
+v 0.01724839 0.00158049 0.01160049
+v 0.02081020 0.00370736 0.01181922
+v 0.02290985 0.00429731 0.01134058
+v 0.02304019 0.00652728 0.01150928
+v 0.02299279 0.01133087 0.01103261
+v 0.02355680 0.01133090 0.00283078
+v 0.02568252 0.00828760 0.00410293
+v 0.02616595 0.00652729 0.00817539
+v 0.02610671 0.00158050 0.00860989
+v 0.02588158 0.00876968 0.00601950
+v 0.02587921 0.00885558 0.00787526
+v 0.02394782 0.00158049 0.00970353
+v 0.02371558 0.01133087 0.01019987
+v 0.02471327 0.01133089 0.00607738
+v 0.02463506 0.01133088 0.00905915
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 18
+f 1 18 8
+f 1 8 4
+f 1 4 10
+f 1 10 21
+f 1 21 31
+f 1 31 34
+f 1 34 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 5 13
+f 3 13 22
+f 3 22 27
+f 3 27 35
+f 3 35 37
+f 3 37 36
+f 3 36 28
+f 3 28 17
+f 3 17 7
+f 4 8 9
+f 4 9 10
+f 5 6 11
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 6 16 11
+f 7 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 11 16 12
+f 12 16 13
+f 13 16 22
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 22
+f 17 28 18
+f 18 29 19
+f 18 28 29
+f 19 29 20
+f 20 30 31
+f 20 31 21
+f 20 29 32
+f 20 32 33
+f 20 33 30
+f 23 34 24
+f 24 34 25
+f 25 34 31
+f 25 31 26
+f 26 31 30
+f 26 30 27
+f 27 30 35
+f 28 36 29
+f 29 36 32
+f 30 33 37
+f 30 37 35
+f 32 36 33
+f 33 36 37
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_7.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f21f1e57cc9900531ba31814a5881909d79d3ba
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_7.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01197601 0.04320048 0.00257686
+v 0.01197601 0.04320046 0.00758036
+v 0.01197601 0.05027348 0.00257688
+v 0.02084044 0.04320048 0.00257686
+v 0.01197601 0.05027348 0.00374222
+v 0.01375790 0.04320044 0.01227059
+v 0.02199526 0.05027348 0.00257688
+v 0.02235672 0.04861377 0.00257688
+v 0.02373905 0.04320047 0.00626506
+v 0.01582504 0.04799817 0.01392585
+v 0.01540006 0.04867536 0.01222506
+v 0.01712768 0.05027345 0.00985995
+v 0.01421175 0.04320044 0.01259608
+v 0.01582504 0.04715412 0.01392584
+v 0.02269393 0.05027348 0.00351560
+v 0.02246758 0.04935257 0.00257688
+v 0.02359238 0.04935256 0.00601957
+v 0.02377254 0.04320046 0.00854462
+v 0.01702721 0.04799817 0.01392585
+v 0.01790488 0.04903195 0.01252611
+v 0.01763580 0.05027345 0.01005880
+v 0.01458822 0.04320044 0.01257608
+v 0.01702721 0.04715412 0.01392584
+v 0.02313969 0.05027347 0.00487534
+v 0.02340184 0.05027347 0.00601957
+v 0.02319512 0.05027346 0.00852354
+v 0.02326557 0.04935255 0.00863240
+v 0.02376330 0.04320046 0.00887012
+v 0.02009673 0.04605873 0.01171848
+v 0.02001358 0.04862343 0.01169183
+v 0.02168115 0.05027345 0.00953668
+v 0.02088894 0.05027345 0.00996993
+v 0.01794183 0.04320044 0.01227392
+v 0.02065105 0.04320045 0.01110414
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 28
+f 1 28 34
+f 1 34 33
+f 1 33 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 5 12
+f 3 12 21
+f 3 21 32
+f 3 32 31
+f 3 31 26
+f 3 26 25
+f 3 25 24
+f 3 24 15
+f 3 15 7
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 10
+f 7 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 10 14 23
+f 10 23 19
+f 10 19 20
+f 10 20 21
+f 10 21 12
+f 10 12 11
+f 13 22 23
+f 13 23 14
+f 15 24 16
+f 16 24 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 17 24 25
+f 19 23 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 21
+f 22 33 23
+f 23 33 34
+f 23 34 29
+f 26 31 30
+f 26 30 27
+f 27 30 28
+f 28 29 34
+f 28 30 29
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_8.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ab2decdf694f9791be86113fbdaf688e068379
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_8.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.02693015 0.01970490 0.00257677
+v -0.02688847 0.01951873 0.00257677
+v -0.02711251 0.01970490 0.00291706
+v -0.02623195 0.02211487 0.00257678
+v -0.02705520 0.01951873 0.00289758
+v 0.02344422 0.01951873 0.00257677
+v -0.02692494 0.01951872 0.00601988
+v -0.02694578 0.01970489 0.00601988
+v -0.02629968 0.02222466 0.00601989
+v -0.02632053 0.02217523 0.00291707
+v -0.02473135 0.02694715 0.00601991
+v -0.02342353 0.02694716 0.00309373
+v -0.02294939 0.02694716 0.00257680
+v 0.02372558 0.01982998 0.00257677
+v 0.02599732 0.02060517 0.00601989
+v 0.02483540 0.01951872 0.00595624
+v -0.02558586 0.01951871 0.00789275
+v -0.02563796 0.02180724 0.00796419
+v -0.02366321 0.02694714 0.00937081
+v 0.02180814 0.02694716 0.00257680
+v 0.02392878 0.02012813 0.00257677
+v 0.02560133 0.02130984 0.00440419
+v 0.02599732 0.02213958 0.00601989
+v 0.02611716 0.02039864 0.00846032
+v 0.02498129 0.01951871 0.00701476
+v -0.02418947 0.01951871 0.00935519
+v -0.02304317 0.02299912 0.01140860
+v -0.02288686 0.02543454 0.01128652
+v -0.02193856 0.02694713 0.01077741
+v 0.02304301 0.02694714 0.00896818
+v 0.02341295 0.02590652 0.00601991
+v 0.02294401 0.02556402 0.00257679
+v 0.02437688 0.02275626 0.00257678
+v 0.02560133 0.02140655 0.00440419
+v 0.02500213 0.02378598 0.00601990
+v 0.02611716 0.02234828 0.00846033
+v 0.02421536 0.02319259 0.00257679
+v 0.02317327 0.02094694 0.01112027
+v 0.01969271 0.02078621 0.01403996
+v 0.02069311 0.01951870 0.01208916
+v 0.02422057 0.01951871 0.00921363
+v -0.02257423 0.01951870 0.01089297
+v -0.02251692 0.01970487 0.01099557
+v -0.01883836 0.02238753 0.01375683
+v -0.02018786 0.02329000 0.01311133
+v -0.01891652 0.02464769 0.01377762
+v -0.02027644 0.02694713 0.01204893
+v 0.02287107 0.02694714 0.00942536
+v 0.02228750 0.02694713 0.01058389
+v 0.02317327 0.02176868 0.01112027
+v 0.01969271 0.02192648 0.01403996
+v 0.01771796 0.02301438 0.01472833
+v 0.01445103 0.02299910 0.01554787
+v 0.01733239 0.01951869 0.01439063
+v 0.01886425 0.01951869 0.01356719
+v -0.02248566 0.01951870 0.01096830
+v -0.02049528 0.01951870 0.01211903
+v -0.01759828 0.02329000 0.01405946
+v -0.01891652 0.02458297 0.01377762
+v -0.01671772 0.02099565 0.01400100
+v -0.01414898 0.02299911 0.01471144
+v -0.01732734 0.02495966 0.01396205
+v -0.01414898 0.02558361 0.01425817
+v -0.00133134 0.02694712 0.01458288
+v 0.01685303 0.02694712 0.01432182
+v 0.00809431 0.02299910 0.01584529
+v 0.01465423 0.01951869 0.01458805
+v 0.01721776 0.01951869 0.01440232
+v 0.01514922 0.02694712 0.01445300
+v -0.01730129 0.01951869 0.01246062
+v -0.00779227 0.02040952 0.01452181
+v -0.01414898 0.02077167 0.01422959
+v -0.00461391 0.02299910 0.01538032
+v 0.01461776 0.02694712 0.01445820
+v 0.00779732 0.01951869 0.01453999
+v 0.00529110 0.01951869 0.01435686
+v 0.00769311 0.01951869 0.01453480
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 20
+f 1 20 32
+f 1 32 37
+f 1 37 33
+f 1 33 21
+f 1 21 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 16
+f 2 16 25
+f 2 25 41
+f 2 41 40
+f 2 40 55
+f 2 55 54
+f 2 54 68
+f 2 68 67
+f 2 67 75
+f 2 75 77
+f 2 77 76
+f 2 76 70
+f 2 70 57
+f 2 57 56
+f 2 56 42
+f 2 42 26
+f 2 26 17
+f 2 17 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 6 14 15
+f 6 15 16
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 11
+f 9 11 10
+f 11 19 29
+f 11 29 47
+f 11 47 64
+f 11 64 74
+f 11 74 69
+f 11 69 65
+f 11 65 49
+f 11 49 48
+f 11 48 30
+f 11 30 20
+f 11 20 13
+f 11 13 12
+f 14 21 15
+f 15 22 34
+f 15 34 23
+f 15 23 36
+f 15 36 24
+f 15 24 16
+f 15 21 22
+f 16 24 25
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 20 30 31
+f 20 31 32
+f 21 33 22
+f 22 33 34
+f 23 35 36
+f 23 34 33
+f 23 33 37
+f 23 37 32
+f 23 32 35
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 24 36 50
+f 24 50 38
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 28 46 47
+f 28 47 29
+f 30 48 36
+f 30 36 35
+f 30 35 31
+f 31 35 32
+f 36 48 49
+f 36 49 50
+f 38 50 51
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 42 56 43
+f 43 56 57
+f 43 57 44
+f 44 58 59
+f 44 59 45
+f 44 57 60
+f 44 60 61
+f 44 61 58
+f 45 59 46
+f 46 59 58
+f 46 58 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 49 51 50
+f 49 65 51
+f 51 65 52
+f 52 65 53
+f 53 66 67
+f 53 67 68
+f 53 68 54
+f 53 65 69
+f 53 69 66
+f 57 70 71
+f 57 71 72
+f 57 72 60
+f 60 72 61
+f 61 63 62
+f 61 72 73
+f 61 73 63
+f 63 73 64
+f 64 73 66
+f 64 66 74
+f 66 73 71
+f 66 71 75
+f 66 75 67
+f 66 69 74
+f 70 76 71
+f 71 73 72
+f 71 76 77
+f 71 77 75
+
diff --git a/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_9.obj b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21524c9795974e321ae009d22ba859f0ba4ad171
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/mjcf/mesh/comb_010_collision_9.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00148891 -0.00665874 0.00257668
+v 0.00148891 -0.00665875 0.00660526
+v 0.00148891 0.00157956 0.00257671
+v 0.02436916 -0.00665874 0.00257668
+v 0.00148891 0.00157955 0.00527016
+v 0.00567070 -0.00665877 0.01208686
+v 0.02502868 0.00157956 0.00257671
+v 0.02437158 -0.00664906 0.00257668
+v 0.02600709 -0.00665875 0.00667781
+v 0.00642443 -0.00164078 0.01074469
+v 0.01283603 0.00157953 0.01134124
+v 0.00813967 -0.00665878 0.01286175
+v 0.02616895 0.00157955 0.00595435
+v 0.02572927 -0.00109880 0.00408415
+v 0.02502868 -0.00002938 0.00257670
+v 0.02485957 -0.00327954 0.00257669
+v 0.02572927 -0.00211337 0.00408414
+v 0.02612063 -0.00326826 0.00611253
+v 0.02600709 -0.00665876 0.00845732
+v 0.01629307 0.00157953 0.01173120
+v 0.00828220 -0.00665878 0.01287081
+v 0.02614721 0.00157954 0.00734390
+v 0.02611580 -0.00028829 0.00903774
+v 0.02616170 -0.00002456 0.00595434
+v 0.02488374 -0.00284565 0.00257669
+v 0.02607715 -0.00312310 0.00899239
+v 0.02565438 -0.00187144 0.01072756
+v 0.02405269 -0.00665877 0.00986399
+v 0.01724732 0.00157953 0.01160020
+v 0.01107972 -0.00665878 0.01269347
+v 0.01127782 -0.00665878 0.01268037
+v 0.01424204 -0.00665797 0.01238815
+v 0.02565438 -0.00153836 0.01072756
+v 0.02610614 0.00157954 0.00860950
+v 0.01424204 -0.00665878 0.01238815
+v 0.02396089 -0.00665877 0.00990531
+v 0.02394640 0.00157953 0.00970381
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 25
+f 1 25 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 28
+f 1 28 36
+f 1 36 35
+f 1 35 31
+f 1 31 30
+f 1 30 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 5 11
+f 3 11 20
+f 3 20 29
+f 3 29 37
+f 3 37 34
+f 3 34 22
+f 3 22 13
+f 3 13 7
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 6 12 10
+f 7 13 14
+f 7 14 17
+f 7 17 15
+f 8 16 17
+f 8 17 9
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+f 9 18 19
+f 10 12 11
+f 11 12 20
+f 12 21 20
+f 13 22 23
+f 13 23 24
+f 13 24 17
+f 13 17 14
+f 15 17 25
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