diff --git a/.gitattributes b/.gitattributes
index aa9e2e938d9b30e3f49483af830fba1f215d4b44..0a188e89162eb16a045135e9739b90fff269a7db 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2563,5 +2563,7 @@ dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/to
 dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/toothpaste_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/98618574d6c957689f882819250f2017/hair_clip_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/98618574d6c957689f882819250f2017/mesh/hair_clip_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/9776879ef4b0516db9df64d2f50ad763/hair_clip_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/9776879ef4b0516db9df64d2f50ad763/mesh/hair_clip_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mouthwash_cup_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a9b206a9f3fdfa32155e9ae54e5cca4ebe25ae3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_004_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ed829206efdbb284d0b160e7d9db758894fc3be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdd75fc1596119c8bdb11cb7c8e92fca6c46d84e20695c26555bf69d0b9eb604
+size 10222430
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.glb b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e02e2ce98544df6cda2f135d910cad0a5f85308d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 92819920
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.mtl b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97239428e4ead529c37a7f7b1757218ec246c068
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.mtl
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+newmtl mouthwash_cup_004_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..216239ee47649937783757abcfa84f2150cea6bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa9ff2d4e2692f7c6c23561251ad2e2bcb53861bea753a68debeadc8ad358f3c
+size 115948194
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004_collision.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a75e0f1b0ae93485f772e58de8d4a6eccca0f0f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004_collision.obj
@@ -0,0 +1,13277 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_0.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8318114846526945b9ff21cbc4c9a7829ba6b25e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_1.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..960fdd59f02ba3e386bf692e5409a67bd0fc8503
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_10.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ee528a0a33b646d8eed6d79a164aeb3cb580d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_11.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2401a96bf4d78063a60fbbeb30de38db1d1effe3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_11.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_12.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8855a894a39ccec1ffa9a221e4b90770bcd9fa7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_12.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_13.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d9197c74048a98313c1d80929985ba67a41c426
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_13.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_14.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..145c5c57f9989ef22d6564e08cbd8f8ece6274c2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_14.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_15.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef51637a32af50804195c9a9f61e9841f57ffe8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_15.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_16.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6eecc7f4e1596c585bf150a7d60edaeb6f89069
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_16.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_17.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ee9882c16cbddae62ead26a832c62748cf650b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_17.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_18.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165a8c87ec24d4d35c7effe99ab65b89f56da1e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_18.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_19.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8422f048fb04b9ea2e3ae67ddd97baa15e107cd4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_19.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_2.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cff6f0b4d3d7e580f3d4e42ced81fb3241608a71
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_2.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.01462751 -0.02796782 -0.06026549
+v -0.01462751 -0.02796786 -0.04866118
+v -0.01462751 -0.02755220 -0.06026095
+v -0.01399833 -0.02796782 -0.06026663
+v -0.00024777 -0.02796786 -0.04950410
+v -0.00024777 0.00151743 -0.04984820
+v -0.01462751 0.00151743 -0.04982093
+v -0.01462751 -0.02702115 -0.06023368
+v -0.01429533 -0.02705001 -0.06022573
+v -0.01365347 -0.02796782 -0.06025640
+v -0.00024777 -0.02796782 -0.05858534
+v -0.00024777 0.00151746 -0.05737084
+v -0.01462751 0.00151746 -0.05742877
+f 1 2 7
+f 1 7 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 8 13 12
+f 8 12 9
+f 9 12 10
+f 10 12 11
+
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_20.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8d909a5be05a6b61a3465e81c965e0a8b16b69
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02780788 -0.01763294 -0.04889101
+v -0.03959669 -0.01763294 -0.04889101
+v -0.03057867 -0.01763296 -0.04297196
+v -0.01462998 -0.02728561 -0.04889105
+v -0.03935243 -0.01798978 -0.04889102
+v -0.03638179 -0.02268057 -0.04297198
+v -0.03983355 -0.01763296 -0.04297196
+v -0.01462998 -0.02983335 -0.04297201
+v -0.01462998 -0.03771176 -0.04889109
+v -0.03633984 -0.02263871 -0.04455951
+v -0.03619180 -0.02249715 -0.04889103
+v -0.03626582 -0.02256693 -0.04696745
+v -0.03169636 -0.02750691 -0.04297200
+v -0.03164948 -0.02747102 -0.04455953
+v -0.01462998 -0.03799885 -0.04297204
+v -0.01555029 -0.03740874 -0.04889109
+v -0.03157053 -0.02740921 -0.04696747
+v -0.03149404 -0.02735737 -0.04889105
+v -0.02625101 -0.03184881 -0.04297202
+v -0.01555029 -0.03769384 -0.04297204
+v -0.01708002 -0.03696818 -0.04696751
+v -0.01699366 -0.03689043 -0.04889109
+v -0.02733169 -0.03064071 -0.04889106
+v -0.02598701 -0.03167934 -0.04889107
+v -0.02187647 -0.03454804 -0.04696750
+v -0.02196282 -0.03461782 -0.04455956
+v -0.02201464 -0.03465969 -0.04297203
+v -0.01610050 -0.03749847 -0.04297204
+v -0.01716144 -0.03704395 -0.04455957
+v -0.02178271 -0.03447626 -0.04889108
+v -0.01721078 -0.03708581 -0.04297204
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 22
+f 1 22 30
+f 1 30 24
+f 1 24 23
+f 1 23 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
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+f 3 7 6
+f 3 6 13
+f 3 13 19
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+f 3 28 20
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+f 3 15 8
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+f 9 15 16
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+f 10 17 14
+f 11 18 12
+f 12 18 17
+f 13 14 19
+f 14 17 19
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+f 16 20 21
+f 16 21 22
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+f 18 23 19
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 23 24
+f 20 28 21
+f 21 28 29
+f 21 29 25
+f 21 25 30
+f 21 30 22
+f 24 30 25
+f 25 29 26
+f 26 29 27
+f 27 29 31
+f 28 31 29
+
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_21.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be089ba726099e07142cd02f0cd50d78b98c7bf0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_21.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.04726812 0.00151741 -0.04296059
+v 0.04726620 0.00100206 -0.04296060
+v 0.04712794 0.00151743 -0.04774105
+v 0.03940232 0.00151741 -0.04296059
+v 0.04726428 0.00074060 -0.04296060
+v 0.04709913 0.00074061 -0.04696737
+v 0.04706456 0.00136965 -0.04892144
+v 0.04707609 0.00151743 -0.04892144
+v 0.03684824 0.00151743 -0.04892144
+v 0.02764970 -0.01783856 -0.04892152
+v 0.03046495 -0.01783858 -0.04296067
+v 0.04584513 -0.00568993 -0.04296062
+v 0.04581057 -0.00562740 -0.04455936
+v 0.04574911 -0.00551750 -0.04696739
+v 0.04701271 0.00074062 -0.04892145
+v 0.03951946 -0.01783856 -0.04892152
+v 0.03974798 -0.01783858 -0.04296067
+v 0.04362903 -0.01103291 -0.04296064
+v 0.04354838 -0.01083585 -0.04696741
+v 0.04350613 -0.01072974 -0.04892149
+v 0.04568958 -0.00540571 -0.04871608
+v 0.04567998 -0.00538108 -0.04892147
+v 0.04039706 -0.01656155 -0.04892151
+v 0.04057758 -0.01678704 -0.04296066
+v 0.04307789 -0.01224171 -0.04296064
+v 0.04304140 -0.01171118 -0.04892149
+v 0.04293194 -0.01194044 -0.04892149
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 17
+f 1 17 24
+f 1 24 25
+f 1 25 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 7
+f 6 14 15
+f 7 15 22
+f 7 22 20
+f 7 20 26
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+f 7 27 23
+f 7 23 16
+f 7 16 10
+f 7 10 9
+f 7 9 8
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 14 20 21
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+f 15 21 22
+f 16 23 24
+f 16 24 17
+f 18 25 19
+f 19 25 20
+f 20 22 21
+f 20 25 26
+f 23 27 25
+f 23 25 24
+f 25 27 26
+
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_22.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a035d0a1c9ed12a31c6b6fa6a7bcfd392b31f0a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_22.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.03679600 0.00151743 -0.04889094
+v -0.03670298 0.00137309 -0.04889094
+v -0.04697501 0.00151743 -0.04889094
+v -0.03936448 0.00151741 -0.04297189
+v -0.02780916 -0.01763294 -0.04889101
+v -0.04693894 0.00073950 -0.04889095
+v -0.04702626 0.00073949 -0.04696737
+v -0.04720091 0.00073948 -0.04297190
+v -0.04720091 0.00151741 -0.04297189
+v -0.03058077 -0.01763296 -0.04297196
+v -0.03959798 -0.01763294 -0.04889101
+v -0.04652320 -0.00118941 -0.04889095
+v -0.04566704 -0.00555149 -0.04696739
+v -0.04573158 -0.00566210 -0.04455945
+v -0.04576765 -0.00572584 -0.04297192
+v -0.03983338 -0.01763296 -0.04297196
+v -0.04007067 -0.01733491 -0.04297196
+v -0.04048072 -0.01680629 -0.04297196
+v -0.04030987 -0.01660194 -0.04889101
+v -0.04561388 -0.00535278 -0.04889097
+v -0.04560249 -0.00542776 -0.04884404
+v -0.04344406 -0.01081334 -0.04889099
+v -0.04348582 -0.01091457 -0.04696741
+v -0.04356176 -0.01110579 -0.04297194
+v -0.04301693 -0.01231300 -0.04297195
+v -0.04292011 -0.01212366 -0.04696741
+v -0.04287455 -0.01202242 -0.04889099
+v -0.04557022 -0.00548962 -0.04889097
+v -0.04333016 -0.01105703 -0.04889099
+v -0.04320676 -0.01190060 -0.04297194
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+f 21 28 22
+f 22 29 23
+f 23 29 25
+f 23 25 30
+f 23 30 24
+f 25 29 26
+f 26 29 27
+
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_23.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6727db12bcd2b69ebb0186498dcacce0cec0458c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_23.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.00024777 -0.04124562 0.06028036
+v -0.00115143 -0.04124197 0.06028761
+v -0.00024777 -0.04177156 0.06028036
+v -0.00024777 -0.04079029 0.06019339
+v -0.00953492 -0.03915402 0.06022964
+v -0.01074825 -0.03908827 0.06025138
+v -0.01314816 -0.03893366 0.06028037
+v -0.00115143 -0.04177400 0.06028761
+v -0.01462751 -0.03878026 0.06028037
+v -0.00024777 -0.04252517 0.06000494
+v -0.00024777 -0.04003668 0.06004119
+v -0.01462751 -0.03757132 0.05999772
+v -0.01462751 -0.03944256 0.06028037
+v -0.00355134 -0.04175695 0.06028036
+v -0.00115143 -0.04298294 0.05983825
+v -0.00024777 -0.04298050 0.05983825
+v -0.00024777 -0.03818979 0.05883809
+v -0.01462751 -0.03563921 0.05872213
+v -0.00957856 -0.04157799 0.06022963
+v -0.00834975 -0.04162546 0.06024412
+v -0.00595125 -0.04170582 0.06027311
+v -0.01462751 -0.04065150 0.05995422
+v -0.01314816 -0.04077081 0.06008468
+v -0.00355134 -0.04296589 0.05979476
+v -0.00115143 -0.04371463 0.05931641
+v -0.00024777 -0.04371463 0.05931641
+v -0.00024777 -0.03773445 0.05804809
+v -0.00024777 -0.03698206 0.05673626
+v -0.01462751 -0.03449357 0.05661306
+v -0.01052726 -0.04254343 0.05942513
+v -0.00834975 -0.04283441 0.05952659
+v -0.00595125 -0.04291476 0.05970054
+v -0.01462751 -0.04253856 0.05867862
+v -0.00355134 -0.04371463 0.05925118
+v -0.00024777 -0.04371447 0.01530855
+v -0.00024777 -0.03688223 0.05628690
+v -0.00024777 -0.03671542 0.05553316
+v -0.01462751 -0.03443026 0.05630141
+v -0.01297925 -0.04291597 0.05869311
+v -0.00834975 -0.04371463 0.05883082
+v -0.00595125 -0.04371463 0.05909898
+v -0.01462751 -0.04351739 0.05661303
+v -0.01232191 -0.04371462 0.05809156
+v -0.00312063 -0.04371447 0.01530130
+v -0.00533051 -0.04177981 -0.01375461
+v -0.00024777 -0.04176399 -0.01375461
+v -0.00024777 -0.03661803 0.05420683
+v -0.01462751 -0.03411858 0.05401114
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+v -0.01395751 -0.04371462 0.05661303
+v -0.01462751 -0.04368783 0.05420680
+v -0.01454024 -0.04371461 0.05420680
+v -0.00355134 -0.04371447 0.01530855
+v -0.01074825 -0.04066705 -0.01375461
+v -0.00540089 -0.04371447 0.01555497
+v -0.00595125 -0.04371447 0.01569992
+v -0.00691403 -0.04371447 0.01625799
+v -0.00744468 -0.04371447 0.01657689
+v -0.00849051 -0.04371448 0.01811339
+v -0.00939417 -0.04371448 0.02039641
+v -0.00024777 -0.03410981 -0.01375459
+v -0.00024777 -0.03647192 0.05179336
+v -0.01462751 -0.03373871 0.04827100
+v -0.01462751 -0.03380689 0.04938714
+v -0.01462751 -0.03387995 0.05054677
+v -0.01462751 -0.03396273 0.05179337
+v -0.01462751 -0.03405039 0.05305445
+v -0.01462751 -0.04318984 0.04459639
+v -0.01027671 -0.04371449 0.02270117
+v -0.01462751 -0.03929863 -0.01335598
+v -0.01124231 -0.04048809 -0.01375461
+v -0.01462751 -0.03127677 -0.01375457
+v -0.00024777 -0.03562571 0.03161584
+v -0.00024777 -0.03633677 0.04938713
+v -0.01462751 -0.03360356 0.04595899
+v -0.01462751 -0.03366200 0.04698092
+v -0.01462751 -0.03919027 -0.01375460
+v -0.01332551 -0.03969795 -0.01375461
+v -0.01462751 -0.03311532 0.03493528
+v -0.00024777 -0.03590333 0.03974773
+v -0.00024777 -0.03581809 0.03734150
+v -0.00024777 -0.03621380 0.04698091
+v -0.01462751 -0.03347937 0.04367597
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+v -0.00024777 -0.03596176 0.04125525
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+v -0.01462751 -0.03340388 0.04212497
+v -0.01462751 -0.03330405 0.03974774
+v -0.00024777 -0.03599707 0.04216120
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+
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_24.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682845661a051e4d2e568e7340bf5272414ee20b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_24.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_25.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6736ee99af7336979c966d64b244d1c5827b3203
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_25.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_26.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e1356610009719d34ec9c0569590721d0b3ee88
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_26.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_27.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d911b84441ffb73269cb75a30a9224665ff0ef2a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_27.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_28.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8da075f4187c076a922b6ad789ef3a7c05a07d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_28.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_29.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71ec4275b0dfac94573f18c63bbdf41e113f6172
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_29.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_3.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2371a4624c7a9485248f25b1abf03e43a788e864
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_3.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_30.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c607e328b8c84291650b70da3073d7e083924e2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_30.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_31.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a50403810e31ec70ef59d9316c52e48d079ccb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_31.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_32.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe73ada0c47d65902917983078f2fae4a868b6b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_32.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_33.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eae0f9dd4bd8d3994f1cab40ffe6d6ea6d38b50
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_33.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_34.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c00d040d9a9865c2615bce37ca602892306cb9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_34.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_35.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c931ae95bc598099b8bae2310950fd6a26dfd05e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_35.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_36.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..181279559e59b8acc69eda4df90c6d0ecc5006c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_36.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_37.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78649de09183f144a6b1297557c1a8867b9f02f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_37.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_38.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ef6c430cbf3d3420e3b2078f5f210b9b858330f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_38.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_4.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0da209bc3a304d82f4b677b4f36abffcae6d70e5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_5.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54444d8fbc44629bbd7703446d3582011951124f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_5.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_6.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ee8187f1685c33ec5cc283e891177c90363dbe1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_6.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_7.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9594ca8bc8d347ff9edd0a8da045d8ebcb9e3e16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_7.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_8.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b42f06b4f7e85ffed8574ad5071ba81cf4be6f9b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_8.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_9.obj b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..968c88c3ce1e0e0c83b6d31d046404c35430f025
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mouthwash_cup_004.xml b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mouthwash_cup_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3addd2946ac15fd371ae8ae4a44198421a957ee4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mouthwash_cup_004.xml
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+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mouthwash_cup_004.urdf b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mouthwash_cup_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..24668cdce88b06c62e6822842945dc094bb729a0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mouthwash_cup_004.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_004">
+   <link name="mouthwash_cup_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_004.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>8f6a9f4819405784994c4ce72dd9acb9</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>ribbed cup</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>gray ribbed cup with handle and lid</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414143642</generate_time>
+         <gs_model>""</gs_model>
+      </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/8f6a9f4819405784994c4ce72dd9acb9/mouthwash_cup_004.usd b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mouthwash_cup_004.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mouthwash_cup_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2295d1be07a71007eb76ab1449db61be16d81b749b57db462fdd5f626dea2c7b
+size 136733014
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/textures/material_0.png b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10222430
diff --git a/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/video.mp4 b/dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/video.mp4
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 224078