diff --git a/.gitattributes b/.gitattributes
index fa0b95ee65beea0e33eea23e381bdf1dcc12509b..dceb0961c04278c8b04edfff6fba04848afa3e88 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2491,7 +2491,5 @@ dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/na
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 dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/hair_clip_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/mesh/hair_clip_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mouthwash_cup_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/38cddd749c5b547cb29252e711fee4ad/hair_clip_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/38cddd749c5b547cb29252e711fee4ad/mesh/hair_clip_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/comb_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/comb_036.urdf b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/comb_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f1daa330ec9deede00d425ef67026c31500f05b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/comb_036.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="comb_036">
+   <link name="comb_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/comb_036.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/comb_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>38fabd9c66c656678b2b21c1c776b50f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>comb</category>
+         <name>wooden comb</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>curved brown comb with fine teeth and smooth rounded spine</description>
+         <min_height>0.0172</min_height>
+         <max_height>0.0172</max_height>
+         <real_height>0.0172</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611120435</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.079985 -0.039837 -0.006766</min>
+            <max>0.070015 0.024340 0.010455</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/comb_036.usd b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/comb_036.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/comb_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d397fbaa61923f1de9543cbf05613d05dcf9b0d779361595fc8599af09c7b5a
+size 4960808
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.glb b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7425295cf84b8c3530faa45e8a8d2fa40f773dcbe97618e2ef92bf4098e69840
+size 11735784
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.mtl b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f3622e9997be86bd8c15fee96a7f6f73fd5da639
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.mtl
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+newmtl comb_036_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d887496a76022c925b5f97affada28740d1659b3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036_collision.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb113f3cd48be8315e88a525f8ae416e8581c5f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036_collision.obj
@@ -0,0 +1,5747 @@
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c50e5fb98d287225f274618bf14e88d98f4574a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/comb_036_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8494627
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e30d79dc1b42e18aaeeaf8308ba8abf965961c7f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mesh/material_0.png
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index 0000000000000000000000000000000000000000..e41787a0633c7453d649c4ba8fcdc0a76489431b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/comb_036.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="comb_036">
+  <asset>
+    <material name="material_0" texture="texture_0_comb_036_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_comb_036_geometry_Looks_material_0" type="2d" file="mesh/comb_036_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/comb_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/comb_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/comb_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/comb_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/comb_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/comb_036_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/comb_036_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/comb_036_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/comb_036_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/comb_036_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/comb_036_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/comb_036_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/comb_036_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="comb_036">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360645652d2e474836547edef8deef0b763b849d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036.obj
@@ -0,0 +1,124016 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_036_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd2a5e36df9cf68e3468f9bde2045e7ff94e4ad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision.obj
@@ -0,0 +1,5747 @@
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_0.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6393c5afccfbf8d58c763e6cc94e285a81fc6570
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_1.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ccacfb738adc42b922ecdde0c2178e2ced5563
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_10.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77dab20a32dea35da0fd026add45826572dd62bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_11.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24faaf63dd1d76faa003986e9a72d945dbcea69e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_11.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_2.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f459e12053cdf7fdca1b55cb6dd411177577628
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_2.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_3.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4d28c758ca5edf1c1731f7d4d3fe226f37bdd5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_3.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_4.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e18b90613e37ddb3612f5ebb5d709a2935e0e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_4.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_5.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd961f4716a7953f6873ef0f741ef8ed1e1ac18a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_5.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.05814408 0.00415146 0.00701298
+v -0.05987157 0.00415146 0.00700358
+v -0.07004316 -0.00493764 0.00467072
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+v -0.06172720 -0.00493764 0.00461834
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+v -0.05925187 -0.00493764 0.00457671
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+
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_6.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f690f5db9a6ad2bd768621c9b9c5494833bd42d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_6.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.06190068 -0.00396623 0.00560334
+v 0.06314908 -0.00387842 0.00523197
+v 0.06190068 -0.00147148 0.00532509
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+
diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_7.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a09ba21d4f88405aa568291f4a464d37278ce27a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_7.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.08028834 -0.00387564 -0.00170671
+v -0.08013689 -0.00387565 -0.00048312
+v -0.08000951 -0.00255143 -0.00048312
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+v -0.07938668 0.00016472 -0.00048311
+v -0.07939872 0.00018779 -0.00170670
+v -0.07925329 -0.00014939 -0.00290351
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_8.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ab563f0d39fca21cad70291ba152c24343294d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_8.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_9.obj b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8ff61e5b8eaff773f7fd1fa233505f8a5fcc59d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/mjcf/mesh/comb_036_collision_9.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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