diff --git a/.gitattributes b/.gitattributes
index 8578c553998d0fa16c83c69b23d1f6f7a8bed500..6a2cfce672236a0474e20575321ecadf662e5137 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2521,9 +2521,5 @@ dataset/bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa/comb_03
 dataset/bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa/mesh/comb_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mouthwash_cup_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/mesh/razor_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/razor_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/comb_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/mesh/comb_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mouthwash_cup_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..de7f27ded9b901288028e6c4d4cf5c7bf548074e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_020_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020.glb b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e2ab63277a2bf861774965dc0c1c3e39d4601c8d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020.mtl b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d275f9c722f2683492ca928292e678d9f0e8c73
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020.mtl
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+newmtl mouthwash_cup_020_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54af730ce987ddfda4a1fa585e98defc695255a0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_020_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020_collision.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff9c3d4831f423f81a64ad32c6ddae68ed6de791
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mesh/mouthwash_cup_020_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524e8c696ccf1f1a3e352d9e7896d36af4f8df5e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_0.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a85514490ab25a7a2b110e8570416fbec60ccd10
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_1.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9683d0bb3774c30f236e5d1917bdc81080b51b90
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_10.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cefa8f3babd2619537c5196ed72e5d45d694133
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_11.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20eee5859aaebea176e7ed2da0ee638376395d6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_11.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_12.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77cfa66de747aa948076ace4e50516d26dad8d05
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_12.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_13.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926fc94aafd5e943d60981366e9d734f2bc1cb27
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_13.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_14.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0df3cf8aea2efee014b8b829ec8872bc413d5319
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_14.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_15.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f73377dabb9f9b895ed3473641dc77fa7047d78e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_15.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_16.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..192ab10752b7dbe282f9e5b9bb604741066a8522
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_16.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_17.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a20d145b7ac6856d9367692dec2ccbdf49a16d78
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_17.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_18.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d6e9d210922b14a75650cd31ef1dfd4d7824c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_18.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_19.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4191a95ce3d8980ecf1d17a3f639501b6408095
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_19.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_2.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daa66d747a01c7ea7ad896b2bf0a6d3753ac8c3b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_20.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627d12aa548e8c609ac54f91c25976fe29b63e57
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_20.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_21.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c726ad54fc34fe4c0d1886088666975d68c1ffe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_21.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_22.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c4edaa1d977e867656f8a83b7a47b1fa8940893
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_22.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_23.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f72bcb763ff45b084dabc1ec3a6c74c3b658efd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_23.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_24.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c2551b2a1a6b7034d2a691bb49173d0aa04c6fa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_24.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_25.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f27ebc05644215684492701cc145d722d04642a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_25.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_26.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa035296b6151a17797d33e8f4544265ef09afd4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_26.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_27.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60501fb6796f3fd5642d20990089f5d81777ee99
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_27.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_28.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8114f3b874cfa25ea8a46ffa7d0f8f68f42d4db2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_28.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_29.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a142c564697b4574e28347cb1f71b4cd1d1edf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_29.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_3.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b0b9b407fc79b5953a0aa163b36656e4f328e47
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_30.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9172329dc50a3b6ba464f755f7bf68c86b664bb7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_30.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_31.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da685d4b909ba5d4551037b8ae573feaec049e9f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_31.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_32.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9dbbc1e05fbbabbd195f65d8b0d825b86a1689c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_32.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_33.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0d55d4f5f1702aa1459d686a17527ab3e81615
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_33.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_34.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82261c512624716eb8eeecf9482d3969c58cff0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_34.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_35.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b746295ebe97eb99b780bb05b34ca90d7bf6e99
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_35.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_36.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..555425b2b188d8c5b68131606b5f13ae571cc81d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_36.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_37.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14672ce75598e52b4732720998fb6ce019ac11d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_37.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_38.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39d69e75140a9f32596e5e8b8edd0daa21e920e9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_38.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_39.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98be81c871e9fb00a4380e1d49ba5558369e2205
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_39.obj
@@ -0,0 +1,160 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_4.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ecd36ca6a97490b3dcbf2fe7383c033e3cd6ac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_4.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_40.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7016f720beeb68bfd519dd1521815ba9c1f7c34
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_40.obj
@@ -0,0 +1,766 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_41.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5828fb8b59b53416150dda7a55716fc95d07937c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_41.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_42.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c8b7e32cd180969ac085c9d68fa1c0c1dfab93
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_42.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_43.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6366d83748a31e6959b033e46c64318fb2285c03
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_43.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_44.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76b388faa80db7149d7642a1682855db521addfb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_44.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_45.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b77afd72188912cac3f2343c6bb54b816ed8d5b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_45.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_46.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b940fd85f0076d5a0c7ece26bf868be2122c0d8f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_46.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_47.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb132708127bba4aa4878b6dd951022071708746
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_47.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_48.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f9e2df6d47ee4a3c6ef577d76fe1983185174dd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_48.obj
@@ -0,0 +1,1129 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_49.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..364d46a1039646d6e4f2ab6a3d24e175613e79b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_49.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_5.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3972e7d3dc492c57ce51e6f649a530075ff30a84
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_50.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37bbc019b9190e0aa1b2460408f2bf27e5857cab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_50.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_51.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e3b9dab4fb539c01453dfe7bd0ea6fb712b933
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_51.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_52.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c39027eb77218cf0362309d5ac13927374c0b5df
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_52.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_53.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c323dfb71f1bb681b27d7d74d7ac0494f26f12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_53.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00023204 0.01731374 -0.00922155
+v 0.00846330 0.01518123 -0.00922155
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_54.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2141161804014a5c413e9f78cef71d60020dbfc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_54.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_55.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd13a48b01f49b014d11e76fc1c57efe7b28bc26
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_55.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_56.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bcc074e40e5528e5fb9204e18bbadf65d583665
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_56.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_57.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7e2ae33e9f05cacc2a781d2f6e7d5949c8fdb09
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_57.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_58.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ed031a705ca9785f9889f6dce3d555c26b16e6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_58.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_59.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..809ce180072fe31afc55f887f771d8c6eb9cf096
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_59.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_6.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..831678afe219ec53de4e736f1644dbce34f8bcab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_6.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_60.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb81dc2e71a746f7495ff529bbca4569785fcf31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_60.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_61.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..865ee3bd0e385f6f095c911f1ff1e078625b5139
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_61.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_62.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9748e8b656aa44e641ff700a319943a8e8a23ec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_62.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_63.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ebb3679e326e7682b17d98a66419e39fcf05cf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_63.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_64.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e891e7a0a9a7dcea09662c447c4e7dfb913d5bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_64.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_65.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..593bcae524e6a01c8e869ff57ec52bba73a841e9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_65.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_66.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4a57eb601036bb92ff48a9c91a4e1c21bf09a2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_66.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_67.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df648fc13873c7273b6c5605f4bbe116d2bb474d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_67.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_7.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a91bc30e739d7768b735dbc1c409b65656a2b2c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_8.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a7ca97f02fccf01ac1d76fce9ec190f299cdcf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_8.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_9.obj b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d199e4b54bd77104ffeeb6954844b171ff4b9a2b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mesh/mouthwash_cup_020_collision_9.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mouthwash_cup_020.xml b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mouthwash_cup_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..44df66cb4783ddea2457efd7c88262219b998d73
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mjcf/mouthwash_cup_020.xml
@@ -0,0 +1,150 @@
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+      <geom type="mesh" mesh="collision_mesh_0_67" 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/6298de4566a253c7b9ffd39f229ad81f/mouthwash_cup_020.urdf b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mouthwash_cup_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9c0a3bb8279ffb2daef1e70b6dcab416a2eddb8f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mouthwash_cup_020.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_020">
+   <link name="mouthwash_cup_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>6298de4566a253c7b9ffd39f229ad81f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>wooden mouthwash cup</name>
+         <color>beige,brown</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>light wooden cup with rounded base on dark wooden coaster</description>
+         <min_height>0.0772</min_height>
+         <max_height>0.0772</max_height>
+         <real_height>0.0772</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154504</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034993 -0.034934 -0.026452</min>
+            <max>0.035261 0.035066 0.050766</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/6298de4566a253c7b9ffd39f229ad81f/mouthwash_cup_020.usd b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mouthwash_cup_020.usd
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+++ b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/mouthwash_cup_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d357071cb17f5ca92cb920ae1d9faa4f4435e1593056ee1125629d4678660e44
+size 4927994
diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/textures/material_0.png b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/textures/material_0.png
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+size 11891101
diff --git a/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/video.mp4 b/dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 298966