diff --git a/.gitattributes b/.gitattributes
index 80daa9ae152f98175731ce7fc4f736143f724f1f..fec5dc1c4c0eb5df383addf5d5b1ff6241864e63 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2587,5 +2587,5 @@ dataset/bathroom_supplies/personal_care/a46de6c5f0a25b30b04e9bf0e417a78d/mesh/ra
 dataset/bathroom_supplies/personal_care/a46de6c5f0a25b30b04e9bf0e417a78d/razor_026.usd filter=lfs diff=lfs merge=lfs -text
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 dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/toothbrush_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ac461abbe919543792f68c711dc19b32/dental_floss_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ac461abbe919543792f68c711dc19b32/mesh/dental_floss_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0f5e75e8a96e2e83f20a88f4d855919697b769b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.glb b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.glb
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+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.glb
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.mtl b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c3c3fa07dffa15470ac3f857d5767b91d7320a6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c0127370225c38e5ee930003306cb886fc0448
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023_collision.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..584e7221fa649c3c7b692f9746babfaee86f0278
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mesh/mouthwash_cup_023_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d18bb8983e153c574914a1bd0a821ae4671f143
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_0.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c387304de689dc5492bd9d41101524ebfd7c87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_1.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29102e8fc032d60a491f18fb4dbb72d6d5a233cf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_10.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4152e3595bbb86df2a955c073659bdebc8cee865
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_11.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ee0efd061480415c5c6195441777a37e600a53
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_11.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_12.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4dda0db5db823a9175f886355b6dbbed868d0d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_12.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_13.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d4e0abe04a6d051061235b5b0d1f94a0fb13f5e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_13.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_14.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3e3b95b47aebf91a26b2a0dd7111ba3f105096
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_14.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_15.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48b2d136de8210a822fd0638fed088375b120aab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_15.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_16.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..418c07efbc629fa19000e9694b104f5d247ccb39
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_16.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_17.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15285868e06052939a7b3ef2730a32c76d453b18
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_17.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_18.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a81afc95383344f80e08d4814adf65b5af765af
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_18.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_19.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd7b7042a889996ce7d489a720c3853c93567e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_19.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_2.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8ac9ed5af7d4c147f10efbddab21fb02752832
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_20.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..632b6028af6abbedd7392806140434b5a99d17f8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_20.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_21.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe451efa37b797747c34bb4c392100b6458b19b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_21.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_22.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c420396bb19a080a91c123d5853e93723c71f73f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_22.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_23.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2d2f49f4288a22b2385810a6b1f482c081ad4b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_23.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_24.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d81064e4e6ef41d8cd40a936c770f7c4703cf218
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_24.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_25.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dd8528684a1744011c4c1f3733c63a638186484
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_25.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_26.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f5b1518dcad3dc309ae0509b1b97cf71085f39d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_26.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_27.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e27f2f64fae41e15b9a4dd1d3bbae7e0338af94b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_27.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_28.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c6fdef286b0dce7eea121ca7fbf4d5108d405bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_28.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_29.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc08a12f5a15fcfd2f23c895481f4795471a651b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_29.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_3.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b186362762e637f8aa00093547a74ea0aea0113b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_3.obj
@@ -0,0 +1,856 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_4.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b63ebc13832eb2a6e3c35f42e137fdc18230e50b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_4.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_5.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec11f5987548f179aa54ba172bb17b239275a56b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_5.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_6.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1f15a7ff53b4778021e800ae405f40afa687d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_6.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_7.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ff0ce03c1ad8083b1735e526324eb995f29d5a2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_7.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_8.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03813ff69c4b0f30b8f456505dda84cf7fddea39
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_9.obj b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01199932543e7428f5ac408e5d76337d94961f86
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mesh/mouthwash_cup_023_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mouthwash_cup_023.xml b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mouthwash_cup_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3e9fb5fe3702ef58237fd1b4c64dfa3897d75a0d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mjcf/mouthwash_cup_023.xml
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mouthwash_cup_023.urdf b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mouthwash_cup_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..461eb65f735e8ce5c9ae5f42fa9b51aefa510269
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mouthwash_cup_023.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_023">
+   <link name="mouthwash_cup_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>aa231fa980ab5b1aac153a4123615f35</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>tapered glass cup</name>
+         <color>transparent</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>transparent tapered mouthwash cup with thick base and printed text</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611122452</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026736 -0.026456 -0.029828</min>
+            <max>0.026703 0.026594 0.050172</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_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/aa231fa980ab5b1aac153a4123615f35/mouthwash_cup_023.usd b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mouthwash_cup_023.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8f673204b3a3f0e3cda00121622802b8090d0119
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/mouthwash_cup_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f2801539de0df3482148f5847cb94540cd024b382d6a32ffa19ca3938f0a27
+size 4721169
diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/textures/material_0.png b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d486e31e7e48530739cf070f6d41f7c1a8a03505
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b953a5b9d8e6d8badf2702a58de07bbf53de01cebb85d40bd78221a671997796
+size 8749226
diff --git a/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/video.mp4 b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..484d92de841c0486ff12da42854cbdd6929a7f2e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f06979283cfcfe510cf8c0553ef94f26787f1665986df3a238b1836bf13c8b
+size 287838