diff --git a/.gitattributes b/.gitattributes
index 11f1c71942f7df54e3a5f0b2db1abb6f17e4d268..bf3e3a74fa4be1e8e8e490900751b322fb03e28b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2541,5 +2541,13 @@ dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/na
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 dataset/bathroom_supplies/personal_care/7ef0b600a22459c7a90a5ebcc79ab1f1/mesh/toothpaste_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7ef0b600a22459c7a90a5ebcc79ab1f1/toothpaste_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/mesh/razor_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/razor_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/mesh/toothbrush_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/toothbrush_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/hair_clip_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/mesh/hair_clip_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/86ff8a76b73858109e19243b38b704ad/mesh/toothbrush_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/86ff8a76b73858109e19243b38b704ad/toothbrush_038.usd filter=lfs diff=lfs merge=lfs -text
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+dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mouthwash_cup_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e88f6eeb1d79849e28167e62b9f99f266fcbd698
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6f86d6e8698824984ceceab326599307494fdd9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001.glb b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d2fc7625b8a2368068f27bd2797a7115cae8c221
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11269076
diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001.mtl b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b5b327f08ec799df2901b5d0693c4e58cbdcf1b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001.mtl
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+newmtl mouthwash_cup_001_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434f2eec66dc2061f0bf5abe62e4d17a45db349f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001.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/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001_collision.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17b9f943d3d3965d8aa955e128b145d79e6b187d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001_collision.obj
@@ -0,0 +1,24520 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mesh/mouthwash_cup_001_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85918107a3b57546daaef64b37ead9ea2bc96bf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision.obj
@@ -0,0 +1,24520 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_0.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24fa49090aefdbbbb48e458670aefe3331c0eb9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_0.obj
@@ -0,0 +1,985 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_1.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c25761cb0d87c9bf9409fc267a0938a3bdfffee4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_1.obj
@@ -0,0 +1,1279 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_10.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762c50ec663d98e3d8acf725f221df2a6087ea22
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_10.obj
@@ -0,0 +1,610 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_11.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70b297ad9211489cfdd73fff138e6f8b2ca715e5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_11.obj
@@ -0,0 +1,667 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_12.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5095852a13d03412eff12ea96215b9af50dcdd1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_12.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_13.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f37abc03bce6379fb4e67449b07535ab679a986
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_14.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c6199c31b8bab8865ef95a91e41cdc31d86c466
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_14.obj
@@ -0,0 +1,949 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_15.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f262ee4fb6567d71579ae845fcc66208dcdb293
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_15.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_16.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c24a875ffa2ca9d30b0674dcbd185fedc7a0fd16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_16.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_17.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ffc5d7efdb67c6e26c201fcd0d93721bc53493e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_17.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_18.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf1f32d969582f3d7f56ef0ca0d2f0d87afa6ca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_18.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_19.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0379d68378d9fb65ac0d2bc99a9e2b748fd00e07
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_19.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_2.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98c1de7c86db8b0c07852f89e4dbb7db2ba7cd12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_20.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba87409ecddd5f76cbbaab729e408c94e2d9814f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_20.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_21.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96999f794dca7860d8facee5720aa1ef4a106ee9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_21.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_22.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9f9df4fec65293f3a032be9924ba48c5819653f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_22.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_23.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c34e362a0f25ef352a656b3a6b0ddab47d00cb5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_23.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_24.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c1d0ea4ce0c1d6cb63d4d3f0587ee374cbf246
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_24.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_25.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c6547540dd3be385609db0a29975f80b4ab8f3e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_25.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_26.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59442af9258900a4ba77e627c03c8e7acbf3f186
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_26.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_27.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a84710872618d65db45029a433d603833bc004
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_27.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_28.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b98902b6e62f8adc3acea7eda1768b23dc1d525
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_28.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_29.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5621fc12721208fbfe57daf3c0e0c18fc5722f4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_29.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_3.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69844c06a036b18a581d0bdf3fd84cc18e2350ea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_3.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_30.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c902db28afdd5de134d562b6df13ae01290bcc7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_30.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_31.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039f599c299f98c30ea61e31be35d66139c77f52
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_31.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_32.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3bd8744647af10cdb25a1a1f5dc93a313b39539
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_32.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_33.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d67c615943d07ca130be0c8efcf01d3e71b4cc00
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_33.obj
@@ -0,0 +1,814 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_34.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a45e93e3eacf36553602900c565dc4df9f3775fe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_34.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_35.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793fb3ead86c277af336095b773b3e36f754babd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_35.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_36.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eeca709d4077b33e8997f80ba366a4d6fbc130d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_36.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_37.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7124fdd2fc4898822c7eb08473a00363ab2ced6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_37.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_38.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e39fe2b4c986567323f189eaf4287f3effbb614
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_38.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_39.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90748d459a52354384546afee64a35301b8e831
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_39.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_4.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..633b70303efe4d448c2bf184b2ec63fbf670f8ca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_4.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_40.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f76655c7f6d9918fe30aaca077032885f4703c01
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_40.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_41.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74fa979639441cdafab9fbe2be12e593e606b511
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_41.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_42.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87b7860eeebe1573b8b2576b82ddc1e03b4d19c3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_42.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_43.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ab9a40fddcddcaa2ece3e977145ae4265ed1d8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_43.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_44.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c56250b5706581264f6624079ca2e1660ba7605
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_44.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_45.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92732a52c965f5418aa86c7682e4a2e1095629a4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_45.obj
@@ -0,0 +1,769 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_46.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..208b02ecf82a0dfec956f6498a0af4c210e9d951
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_46.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_47.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8656a4baf32c3da1957939e326beb58f78635395
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_47.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_48.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54a4bdfd4d34ce6247a949a3fd39d0bc886e6613
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_48.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_49.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfaf14d9de4ab5911c155daa929eccb3a2006e7d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_49.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_5.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a029ca7b3459ad4bcee1f752d681bb487ebc04a8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_5.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_6.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b1f3205b4002f37ac46ee4d9e2bbb1fa4ba043
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_7.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5973f143e22e13670de7cc70cebc8702368e4c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_7.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_8.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de6c4498b9087b9f506d8806243b600a9cb1a78
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_8.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_9.obj b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc0521ee8d3317ce6711ea5c78791c7c7aadae0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mesh/mouthwash_cup_001_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mouthwash_cup_001.xml b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mouthwash_cup_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..523074bee4833e5c94fcb332bc4b0fe2320add35
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mjcf/mouthwash_cup_001.xml
@@ -0,0 +1,114 @@
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+      <geom type="mesh" mesh="collision_mesh_0_49" 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/85d0eea50df35d10891b4b7971771896/mouthwash_cup_001.urdf b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mouthwash_cup_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2dcd3f31e74992b93f90d1d8359360f8fc67db8f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mouthwash_cup_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_001">
+   <link name="mouthwash_cup_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>85d0eea50df35d10891b4b7971771896</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>floral cup</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>blue cup with colorful floral patterns and a handle</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414143255</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/85d0eea50df35d10891b4b7971771896/mouthwash_cup_001.usd b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mouthwash_cup_001.usd
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+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/mouthwash_cup_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05180b3bba989e4b5b9b809bedd57119757ff18b425ad7cd67b4a1823ede58f3
+size 4827552
diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/textures/material_0.png b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/textures/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8059362
diff --git a/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/video.mp4 b/dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/video.mp4
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+size 254044