diff --git a/.gitattributes b/.gitattributes
index 69d9ff67bfb0af4d8a0283572358b187ac93ab88..cbdc66994751348c36ed4c5e59f8546a7f3a0920 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2511,3 +2511,5 @@ dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/mesh/ra
 dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/razor_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/hair_clip_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/mesh/hair_clip_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/comb_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/comb_012.urdf b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/comb_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..85c2b3f1aac3b79721a9a35056576d104aa1b655
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/comb_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="comb_012">
+   <link name="comb_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/comb_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0700" />
+         <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>55069ad552b05bafb454ac0677b938ef</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>comb</category>
+         <name>paddle comb</name>
+         <color>pink</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>pink handheld paddle comb with short flexible rounded teeth</description>
+         <min_height>0.0337</min_height>
+         <max_height>0.0337</max_height>
+         <real_height>0.0337</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518152643</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.065165 -0.037026 -0.009282</min>
+            <max>0.096165 0.042974 0.024437</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/55069ad552b05bafb454ac0677b938ef/comb_012.usd b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/comb_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..16663b1f3e661219b1bddad70839938e4b8dc85b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/comb_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b266d660086783053795aa6e6da2b46dffc16b328254ec09ace89090e798758
+size 4946121
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012.glb b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1783fff8110051e650fd4c064251898ce4a5d867
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f1a04dee89af987fc164ba5a04e37b1a0434ff9b3a8170f5f81d4b0e1c3106
+size 12663460
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012.mtl b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..65bc5fdde7115c5ee7bb92057cff297adbd9b3d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012.mtl
@@ -0,0 +1,6 @@
+newmtl comb_012_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/55069ad552b05bafb454ac0677b938ef/mesh/comb_012.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d449551d73727e97cd688c946d09b5d7453111d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012.obj
@@ -0,0 +1,120896 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_012_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012_collision.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4622de8147c8968dd3e0d295d6e9d88bdfa5a499
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012_collision.obj
@@ -0,0 +1,6444 @@
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diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/comb_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..27c251af5a9f2ec5f969b6933b4abf055c047f26
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 9195306
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e897af42ae6add9a8b487bbfa458e3ba2c01cc94
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/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/55069ad552b05bafb454ac0677b938ef/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/comb_012.xml b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/comb_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fd10c66b6c3587cc65e3d8969394a099035b5b38
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/comb_012.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="comb_012">
+  <asset>
+    <material name="material_0" texture="texture_0_comb_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_comb_012_geometry_Looks_material_0" type="2d" file="mesh/comb_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/comb_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/comb_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/comb_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/comb_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/comb_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/comb_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/comb_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/comb_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/comb_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/comb_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/comb_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/comb_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/comb_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/comb_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/comb_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/comb_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/comb_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/comb_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/comb_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/comb_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/comb_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/comb_012_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/comb_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="comb_012">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28c81fff71ecd75ba3876817fe7e7a375b1b69f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012.obj
@@ -0,0 +1,120896 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_012_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1100caed5ad5ad2a40cc3dd94965efcda3fb27c7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision.obj
@@ -0,0 +1,6444 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_0.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc0d97d68159532a597a4cbc7de2b0bd7906926f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_0.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_1.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..787ada7aefd8e7e0e7a183624320f323c33b4574
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_1.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_10.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8b6be6906a574b5ca696df30d1b7dd523bd105
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_10.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01793424 0.04030913 0.01249774
+v -0.01793424 0.04015953 0.01125648
+v -0.02325269 0.03980214 0.00916382
+v -0.02483140 0.03968370 0.00936565
+v -0.02483140 0.03968369 0.01034452
+v -0.02036701 0.03997043 0.01249774
+v -0.01702195 0.04013459 0.01249774
+v -0.00578333 0.03958394 0.00994617
+v -0.00578333 0.03958395 0.00946444
+v -0.02321387 0.03835174 0.00707167
+v -0.03804342 0.03698239 0.00707167
+v -0.00628153 0.03795070 0.00707167
+v -0.03862573 0.03739797 0.00843562
+v -0.03867102 0.03742705 0.01097762
+v -0.03808224 0.03701354 0.01235007
+v -0.05213537 0.03196625 0.01249771
+v -0.00531101 0.03636730 0.01249772
+v -0.00568628 0.03721717 0.01240743
+v 0.00244668 0.03221560 0.01249771
+v 0.00249198 0.03227379 0.01097760
+v 0.00312605 0.03038496 0.00707164
+v -0.00523983 0.03772836 0.00707167
+v -0.04419652 0.03494394 0.00707166
+v -0.05265946 0.03250029 0.00826192
+v -0.05434169 0.03218237 0.00899382
+v -0.05253005 0.03279327 0.01097760
+v -0.05397936 0.03177923 0.01234474
+v -0.05253005 0.03119118 0.01249770
+v 0.00324251 0.03121196 0.01249770
+v 0.00478887 0.02917767 0.01249770
+v 0.00478240 0.02917144 0.01202870
+v 0.00582409 0.02756106 0.00707163
+v 0.00528060 0.02813872 0.00707163
+v -0.05212891 0.03211172 0.00707165
+v -0.05255594 0.03157977 0.00707165
+v -0.05351999 0.03036418 0.00707164
+v -0.05614686 0.02597975 0.00707163
+v -0.05694916 0.02460416 0.00707162
+v -0.05736324 0.02521715 0.00832191
+v -0.05687799 0.02675274 0.00909366
+v -0.05687799 0.02675273 0.01022975
+v -0.05430934 0.03214911 0.01097760
+v -0.05729207 0.02507792 0.01103706
+v -0.05670329 0.02418232 0.01236224
+v -0.05289238 0.03033715 0.01249770
+v 0.00525472 0.02776883 0.01249769
+v 0.00661345 0.02511118 0.00707162
+v -0.05767381 0.01908103 0.00707160
+v -0.05846964 0.01908103 0.00783590
+v -0.05948545 0.01908103 0.00890773
+v -0.05948545 0.01908102 0.00989351
+v -0.05944016 0.01908102 0.01027168
+v -0.05670329 0.02356726 0.01236224
+v -0.05278886 0.03007117 0.01249770
+v 0.00519649 0.02548518 0.01249768
+v 0.00567528 0.02285663 0.00707161
+v 0.00129500 0.01908103 0.00707160
+v -0.05864433 0.01908102 0.01046501
+v -0.04708867 0.01908101 0.01249766
+v -0.04800096 0.01996620 0.01249766
+v -0.04869974 0.02077036 0.01249767
+v -0.04884208 0.02096361 0.01249767
+v 0.00049270 0.01908101 0.01249766
+v 0.00315193 0.01987895 0.00707160
+v 0.00073857 0.01908102 0.01162076
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 28
+f 1 28 45
+f 1 45 54
+f 1 54 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 63
+f 1 63 55
+f 1 55 46
+f 1 46 30
+f 1 30 29
+f 1 29 19
+f 1 19 17
+f 1 17 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 3
+f 3 10 11
+f 3 11 4
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+f 6 15 16
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+f 15 27 16
+f 16 27 28
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+f 20 33 21
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+f 27 45 28
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+f 30 32 31
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+f 38 48 49
+f 38 49 50
+f 38 50 39
+f 39 50 40
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+f 41 52 43
+f 43 52 44
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+f 44 53 45
+f 45 53 54
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+f 47 55 56
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+f 48 52 51
+f 48 51 50
+f 48 50 49
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+f 53 60 61
+f 53 61 62
+f 53 62 54
+f 55 63 56
+f 56 63 64
+f 57 64 65
+f 63 65 64
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_11.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d29ab8eafb2881884717b9506607af7051203aad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_11.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.04609451 0.02296171 0.01529059
+v -0.04412318 0.02003376 0.01832544
+v -0.04372294 0.02098650 0.01832545
+v -0.04358075 0.02146868 0.01807737
+v -0.04469369 0.02429788 0.01529060
+v -0.04589088 -0.01552565 0.01529045
+v -0.04391253 0.01768095 0.01832543
+v -0.04188502 0.02153259 0.01832545
+v -0.02857723 0.03294810 0.01609309
+v -0.03032035 0.03318047 0.01529063
+v -0.04541516 -0.01612983 0.01529045
+v -0.04087390 -0.00781657 0.01832534
+v -0.04161644 -0.00625384 0.01832535
+v -0.03441925 0.02211353 0.01832545
+v -0.02816119 0.03294810 0.01597930
+v -0.02816119 0.03311076 0.01591156
+v -0.02816119 0.03333733 0.01581382
+v -0.02816119 0.03411579 0.01529064
+v -0.02857723 0.03413903 0.01529064
+v -0.02817173 0.02254923 0.01832545
+v -0.02816119 0.02254343 0.01832545
+v -0.03441925 -0.02505890 0.01529042
+v -0.03668022 -0.01208068 0.01832533
+v -0.03819690 -0.01061090 0.01832533
+v -0.03920626 -0.00958844 0.01832533
+v -0.02816119 -0.02520414 0.01529042
+v -0.02816119 -0.01359694 0.01832532
+v -0.03390140 -0.02516347 0.01529042
+v -0.03390140 -0.02455348 0.01550611
+v -0.03630105 -0.01217363 0.01832533
+v -0.02816119 -0.02460577 0.01547076
+v -0.02823141 -0.02520995 0.01529042
+v -0.02854563 -0.01363179 0.01832532
+v -0.02853334 -0.02465224 0.01546541
+v -0.02891602 -0.01359113 0.01832532
+f 1 2 3
+f 1 3 4
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+f 1 10 19
+f 1 19 18
+f 1 18 26
+f 1 26 32
+f 1 32 28
+f 1 28 22
+f 1 22 11
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+f 1 6 2
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+f 28 32 29
+f 29 32 34
+f 29 34 33
+f 29 33 35
+f 29 35 30
+f 31 34 32
+f 31 33 34
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_12.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8925bd997cb648f80c600c1f90c7e6bba427a68e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_12.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00111390 0.02155823 0.01249794
+v 0.00051346 0.02155823 0.01356962
+v 0.00790548 0.01898702 0.01529030
+v 0.00800555 0.01904671 0.01352012
+v 0.00786545 0.01893398 0.01249793
+v -0.04896903 0.02155823 0.01249794
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+v 0.01558438 0.01142263 0.01517873
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+v 0.01513071 0.01229960 0.01249791
+v -0.05245822 0.01176082 0.01249790
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+v -0.04498614 0.02155822 0.01529031
+v 0.01515073 0.01004171 0.01529027
+v 0.01558438 0.01026551 0.01517873
+v 0.01566443 0.01155692 0.01352009
+v 0.01569779 0.01151713 0.01249790
+v -0.04818179 0.02155823 0.01313985
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+v -0.04499948 0.01988222 0.01529030
+v 0.00935987 0.00462246 0.01529025
+v 0.01160816 0.00462247 0.01249788
+v 0.01566443 0.01012792 0.01352009
+v 0.01120787 0.00462247 0.01382381
+v 0.01140135 0.00462247 0.01361357
+v 0.01569779 0.01006161 0.01249790
+v -0.04743458 0.00462247 0.01249788
+v -0.04674742 0.00462247 0.01299872
+v -0.04641384 0.00462247 0.01318627
+v -0.04259775 0.00462246 0.01529025
+v -0.04374524 0.00690687 0.01529026
+f 1 2 3
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+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 27
+f 1 27 23
+f 1 23 28
+f 1 28 20
+f 1 20 12
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+f 22 31 30
+f 22 30 29
+f 22 29 28
+f 22 28 23
+f 22 23 26
+f 22 26 25
+f 23 27 24
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_13.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a29f1b3dae92530816b3f9d19dee5ea7e77ed8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_13.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00130025 0.01908103 0.00707160
+v 0.00073659 0.01908102 0.01162076
+v 0.00667914 0.01905155 0.01249766
+v 0.00786282 0.01893370 0.01249766
+v 0.00766151 0.01876388 0.01097755
+v 0.00744410 0.01860791 0.00955731
+v 0.00859557 0.01778649 0.00707160
+v -0.05767433 0.01908103 0.00707160
+v 0.00049502 0.01908101 0.01249766
+v 0.01512594 0.01229639 0.01249764
+v 0.01654313 0.01202433 0.00707157
+v 0.01057642 0.01664272 0.00707159
+v 0.00973899 0.01722327 0.00707159
+v -0.05882580 0.01837397 0.00707160
+v -0.05899490 0.01846062 0.00735470
+v -0.05846345 0.01908103 0.00783590
+v -0.04708564 0.01908101 0.01249766
+v 0.01569765 0.01151482 0.01249763
+v 0.01692964 0.00939021 0.00707156
+v -0.05956661 0.01776396 0.00707160
+v -0.06084691 0.01759760 0.00817423
+v -0.05947803 0.01908103 0.00890773
+v -0.05994506 0.01886960 0.00904954
+v -0.05864060 0.01908102 0.01046501
+v -0.05983233 0.01656645 0.01246684
+v -0.05245648 0.01175917 0.01249763
+v 0.01569765 0.01006085 0.01249763
+v 0.01706653 0.00137691 0.00707154
+v -0.06466367 0.01352509 0.00707158
+v -0.06226410 0.01673457 0.00899376
+v -0.05947803 0.01908102 0.00989351
+v -0.05994506 0.01886959 0.01031523
+v -0.05943777 0.01908102 0.01027168
+v -0.06077444 0.01752134 0.01119531
+v -0.06484887 0.01375211 0.01018508
+v -0.06317401 0.01203992 0.01143111
+v -0.06205475 0.00557416 0.01227825
+v -0.05983233 0.01530138 0.01246684
+v -0.05245648 0.01029133 0.01249763
+v 0.01539166 0.00137689 0.01249760
+v -0.06387455 0.00137691 0.00707154
+v -0.06473614 0.01203993 0.00707157
+v -0.06519512 0.01203993 0.00843552
+v -0.06487303 0.01377464 0.00843553
+v -0.06226410 0.01673456 0.01038002
+v -0.06500186 0.01203992 0.01038531
+v -0.06205475 0.00540260 0.01227825
+v -0.06316596 0.00137690 0.01170727
+v -0.05062057 0.00137689 0.01249760
+v -0.06426911 0.00137691 0.00758409
+v -0.06467172 0.00506469 0.00707155
+v -0.06467978 0.00518600 0.00707155
+v -0.06494550 0.00422593 0.00848755
+v -0.06488108 0.00137691 0.00889386
+v -0.06488108 0.00137690 0.01041927
+v -0.06493745 0.00419992 0.01037307
+v -0.06496161 0.00630896 0.01040069
+v -0.06331895 0.00137690 0.01159467
+v -0.06429327 0.00137691 0.00762286
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 12
+f 1 12 11
+f 1 11 19
+f 1 19 28
+f 1 28 41
+f 1 41 51
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+f 1 20 14
+f 1 14 8
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+f 1 16 22
+f 1 22 31
+f 1 31 33
+f 1 33 24
+f 1 24 17
+f 1 17 9
+f 1 9 2
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+f 3 17 26
+f 3 26 39
+f 3 39 49
+f 3 49 40
+f 3 40 27
+f 3 27 18
+f 3 18 10
+f 3 10 4
+f 4 7 5
+f 4 10 11
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+f 4 12 13
+f 4 13 7
+f 5 7 6
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+f 10 18 11
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+f 14 20 21
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+f 18 27 28
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+f 23 45 32
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+f 36 46 37
+f 37 46 48
+f 37 48 47
+f 38 47 49
+f 38 49 39
+f 41 50 51
+f 42 52 43
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 46
+f 43 52 53
+f 46 57 48
+f 47 48 49
+f 48 57 58
+f 50 59 51
+f 51 59 54
+f 51 54 52
+f 52 54 53
+f 55 58 57
+f 55 57 56
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_14.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81476ed3100c2baf3089e14795f97a6d2f90542c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_14.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02838121 0.01339675 0.01832572
+v -0.01970208 0.01037107 0.01832571
+v -0.01899255 0.01089350 0.01978705
+v -0.02838121 0.01787911 0.02044507
+v -0.02838121 0.02250953 0.01832575
+v -0.01923328 0.01024173 0.01832571
+v -0.01803488 0.01014984 0.01880575
+v -0.01759459 0.01041531 0.01942920
+v -0.01759459 0.01121172 0.02007757
+v -0.01803488 0.01187540 0.02020960
+v -0.02838121 0.01799993 0.02045490
+v -0.02838121 0.02138299 0.02008898
+v -0.02797365 0.02153784 0.02026145
+v -0.02045279 0.02744456 0.01832577
+v -0.01759459 0.01006475 0.01832571
+v -0.01759459 0.01006135 0.01874258
+v -0.01759459 0.01191454 0.02020020
+v -0.02838121 0.01991948 0.02055874
+v -0.02838121 0.02070228 0.02042322
+v -0.01936843 0.02385901 0.01991433
+v -0.01915831 0.02385901 0.01991433
+v -0.01759459 0.02460097 0.01857802
+v -0.01759459 0.02464861 0.01832576
+v -0.01759459 0.01403320 0.02021770
+v -0.02580070 0.01970336 0.02049053
+v -0.02838121 0.02022239 0.02051589
+v -0.01759459 0.02265248 0.01904210
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 26
+f 1 26 19
+f 1 19 12
+f 1 12 5
+f 1 5 14
+f 1 14 23
+f 1 23 15
+f 1 15 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 6 15 16
+f 6 16 7
+f 7 16 8
+f 8 16 15
+f 8 15 23
+f 8 23 22
+f 8 22 27
+f 8 27 24
+f 8 24 17
+f 8 17 9
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 12 19 13
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 17 24 25
+f 17 25 18
+f 18 25 21
+f 18 21 26
+f 19 26 20
+f 20 26 21
+f 21 27 22
+f 21 25 24
+f 21 24 27
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_15.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80ce6159371cac739a80c6b0193f4b81c91e761c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_15.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01759459 0.00292790 0.01529052
+v -0.00873445 0.00292790 0.01529052
+v -0.01759459 0.00292789 0.01844917
+v -0.01759459 0.01974853 0.01529058
+v -0.00873445 0.00292790 0.01594646
+v -0.00873445 0.01974853 0.01529058
+v -0.01518245 0.00292789 0.01889193
+v -0.01409477 0.00523486 0.01993422
+v -0.01759459 0.00421064 0.01889050
+v -0.01759459 0.01974853 0.01744506
+v -0.01089246 0.00292790 0.01767024
+v -0.00873445 0.01726700 0.01894600
+v -0.00873445 0.01974853 0.01618526
+v -0.01268444 0.00292789 0.01887119
+v -0.01375910 0.00523486 0.01993422
+v -0.01759459 0.01191207 0.02019999
+v -0.01495780 0.01974852 0.01790326
+v -0.01759459 0.01403132 0.02021736
+v -0.01156206 0.01865349 0.01993523
+v -0.00873445 0.01830110 0.01907382
+v -0.01106420 0.01578336 0.01999503
+v -0.00997652 0.01974852 0.01857608
+v -0.00873445 0.01974687 0.01880759
+v -0.01614436 0.01203886 0.02016912
+v -0.01612007 0.01401979 0.02017830
+v -0.01101389 0.01726700 0.02000998
+v -0.01113705 0.01865349 0.01993523
+f 1 2 5
+f 1 5 11
+f 1 11 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 18
+f 1 18 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 23
+f 2 23 20
+f 2 20 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 4 10 17
+f 4 17 22
+f 4 22 13
+f 4 13 6
+f 5 12 11
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 10 18 19
+f 10 19 17
+f 11 12 14
+f 12 20 21
+f 12 21 15
+f 12 15 14
+f 13 22 23
+f 15 21 24
+f 15 24 16
+f 16 24 18
+f 17 23 22
+f 17 19 23
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 23
+f 20 27 26
+f 20 26 21
+f 20 23 27
+f 21 26 24
+f 24 26 25
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_16.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fce30e2fa06d4f3c695fa8b20a9f63e66f48a72e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_16.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02816119 -0.02520384 0.01529042
+v -0.02486585 -0.03057244 0.01529040
+v -0.02513271 -0.02954738 0.01589713
+v -0.02461348 -0.02851833 0.01734989
+v -0.02816119 -0.02518522 0.01529635
+v -0.02816119 -0.02097330 0.01529043
+v -0.02427526 -0.03073996 0.01529040
+v -0.02461348 -0.02842261 0.01734989
+v -0.02816119 -0.02181090 0.01555267
+v -0.02816119 -0.02433566 0.01549619
+v -0.02816119 -0.02460954 0.01547092
+v -0.02442937 -0.02851833 0.01734989
+v -0.01759459 -0.02775253 0.01742287
+v -0.02297615 -0.01932869 0.01792442
+v -0.02816119 -0.02133094 0.01551631
+v -0.02255518 -0.01765348 0.01768283
+v -0.02301856 -0.01737960 0.01606221
+v -0.02298856 -0.01732243 0.01529045
+v -0.02373638 -0.03073996 0.01529040
+v -0.01759459 -0.02883875 0.01682928
+v -0.01759459 -0.02701066 0.01744659
+v -0.02040690 -0.01952546 0.01781277
+v -0.02117230 -0.01765348 0.01768283
+v -0.02228316 -0.01716023 0.01529045
+v -0.02262345 -0.03053256 0.01529040
+v -0.01759459 -0.02895708 0.01657606
+v -0.01925157 -0.02988375 0.01529040
+v -0.01759459 -0.02558940 0.01741127
+v -0.01924330 -0.02052658 0.01734398
+v -0.01939741 -0.01878358 0.01692859
+v -0.02040690 -0.01745139 0.01607381
+v -0.02046379 -0.01720809 0.01529045
+v -0.01917917 -0.01795794 0.01529044
+v -0.01925467 -0.01789679 0.01529044
+v -0.01759459 -0.02941842 0.01529040
+v -0.01759459 -0.01981794 0.01576541
+v -0.01994456 -0.01746203 0.01529045
+v -0.01759459 -0.01975147 0.01529044
+v -0.01759459 -0.01981263 0.01573549
+v -0.01759459 -0.01975812 0.01535464
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 10
+f 1 10 9
+f 1 9 15
+f 1 15 6
+f 1 6 18
+f 1 18 24
+f 1 24 32
+f 1 32 37
+f 1 37 34
+f 1 34 33
+f 1 33 38
+f 1 38 35
+f 1 35 27
+f 1 27 25
+f 1 25 19
+f 1 19 7
+f 1 7 2
+f 2 7 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 7 19
+f 4 19 12
+f 4 12 13
+f 4 13 14
+f 4 14 8
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 8 14 9
+f 9 14 15
+f 12 19 20
+f 12 20 13
+f 13 21 22
+f 13 22 14
+f 13 20 26
+f 13 26 35
+f 13 35 38
+f 13 38 40
+f 13 40 39
+f 13 39 36
+f 13 36 28
+f 13 28 21
+f 14 22 23
+f 14 23 16
+f 14 16 15
+f 16 23 24
+f 16 24 17
+f 17 24 18
+f 19 25 20
+f 20 25 27
+f 20 27 26
+f 21 28 22
+f 22 29 30
+f 22 30 23
+f 22 28 29
+f 23 31 32
+f 23 32 24
+f 23 30 33
+f 23 33 34
+f 23 34 31
+f 26 27 35
+f 28 36 29
+f 29 36 30
+f 30 36 33
+f 31 34 37
+f 31 37 32
+f 33 36 39
+f 33 39 40
+f 33 40 38
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_17.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec105b336f93615bd79c45ac3e448f335c0b7482
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_17.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00098842 0.01974853 0.01529097
+v -0.00873359 0.01974853 0.01529097
+v -0.00216985 0.01974852 0.01788557
+v 0.00790757 0.01898613 0.01534351
+v 0.00790993 0.01898777 0.01529097
+v -0.00873359 0.00292790 0.01529091
+v -0.00873359 0.01974853 0.01618541
+v -0.00220515 0.01974852 0.01790347
+v 0.01073170 0.01110686 0.01747879
+v 0.01151304 0.01200100 0.01689067
+v 0.01416537 0.01219036 0.01574400
+v 0.01530914 0.01157287 0.01529094
+v -0.00461742 0.01974852 0.01896996
+v -0.00873359 0.00292790 0.01594637
+v 0.01348287 0.00292790 0.01529091
+v -0.00873359 0.01974687 0.01880765
+v -0.00740389 0.01974852 0.01905481
+v 0.00070605 0.00681236 0.01919411
+v 0.01073170 0.01043667 0.01747879
+v -0.00195568 0.01726700 0.01905247
+v 0.01515146 0.01004312 0.01529094
+v -0.00461742 0.01726700 0.01923735
+v -0.00152265 0.00292789 0.01805599
+v -0.00461742 0.01203886 0.01926691
+v -0.00873359 0.01726700 0.01894621
+v 0.01344757 0.00292790 0.01547812
+v -0.00873359 0.01830110 0.01907388
+v 0.00061427 0.00292789 0.01818249
+v 0.00602718 0.00482649 0.01780650
+v 0.00763458 0.00512290 0.01759437
+v -0.00461742 0.01465375 0.01925758
+v -0.00045419 0.00292789 0.01814901
+v 0.01304278 0.00292790 0.01558244
+f 1 2 7
+f 1 7 17
+f 1 17 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 15
+f 1 15 6
+f 1 6 2
+f 2 6 14
+f 2 14 25
+f 2 25 27
+f 2 27 16
+f 2 16 7
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 8 13
+f 4 13 9
+f 6 15 26
+f 6 26 33
+f 6 33 28
+f 6 28 32
+f 6 32 23
+f 6 23 14
+f 7 16 17
+f 9 18 19
+f 9 19 12
+f 9 12 11
+f 9 11 10
+f 9 13 20
+f 9 20 18
+f 12 19 21
+f 13 17 22
+f 13 22 20
+f 14 23 24
+f 14 24 25
+f 15 21 26
+f 16 27 17
+f 17 27 22
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 18 20 22
+f 18 22 31
+f 18 31 24
+f 18 24 23
+f 18 23 32
+f 18 32 28
+f 19 26 21
+f 19 30 26
+f 22 27 31
+f 24 31 27
+f 24 27 25
+f 26 30 33
+f 28 33 30
+f 28 30 29
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_18.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d471183d59796b79acb16d8c9a6d5ff6ad9bc2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_18.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.02838121 0.02251010 0.01832597
+v -0.02838121 0.02138309 0.02008894
+v -0.02838121 0.01339691 0.01832594
+v -0.03441906 0.02211872 0.01832597
+v -0.02838121 0.02070174 0.02042332
+v -0.04188546 0.02077888 0.01956269
+v -0.02838121 0.01787636 0.02044504
+v -0.02839354 0.00791757 0.01832592
+v -0.04188546 0.02153736 0.01832597
+v -0.02874798 0.01995183 0.02056843
+v -0.02838121 0.02022322 0.02051596
+v -0.04188546 0.01947189 0.02013328
+v -0.04372394 0.02098600 0.01832597
+v -0.04351436 0.01931763 0.02008432
+v -0.02838121 0.01799920 0.02045492
+v -0.02940755 0.00791757 0.02033281
+v -0.02900534 0.00791757 0.01984102
+v -0.04196098 0.00791757 0.01832592
+v -0.03123832 0.00791756 0.02049594
+v -0.02838121 0.01992040 0.02055877
+v -0.04412461 0.02003468 0.01832596
+v -0.04399362 0.02006611 0.01879689
+v -0.04351436 0.01819062 0.02008432
+v -0.04131065 0.00791757 0.01959337
+v -0.04391503 0.01767211 0.01860433
+v -0.04391349 0.01768211 0.01832595
+v -0.04033670 0.00791757 0.02017715
+v -0.04095005 0.00791757 0.02008802
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 26
+f 1 26 21
+f 1 21 13
+f 1 13 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 6
+f 5 10 11
+f 5 6 12
+f 5 12 10
+f 6 9 13
+f 6 13 14
+f 6 14 12
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 16
+f 8 16 19
+f 8 19 27
+f 8 27 28
+f 8 28 24
+f 8 24 18
+f 10 19 20
+f 10 20 11
+f 10 12 14
+f 10 14 19
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 19
+f 15 20 16
+f 16 20 19
+f 18 24 23
+f 18 23 25
+f 18 25 26
+f 19 23 27
+f 21 25 22
+f 21 26 25
+f 22 25 23
+f 23 24 28
+f 23 28 27
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_19.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d9f5e945fb04a9c1480b98cd2be61b5d978aa60
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_19.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01792587 0.04043140 0.01352020
+v -0.01701720 0.04013397 0.01249801
+v -0.01792587 0.04030763 0.01249801
+v -0.02036430 0.03996955 0.01249801
+v -0.02011647 0.04005268 0.01352020
+v -0.01955353 0.03973307 0.01500415
+v -0.01792587 0.03975709 0.01502301
+v -0.01647873 0.03960192 0.01488714
+v -0.01623091 0.03986610 0.01352020
+v -0.00530849 0.03636709 0.01249799
+v -0.02144736 0.03958159 0.01249801
+v -0.02477609 0.03758639 0.01249800
+v -0.01859284 0.03817940 0.01529037
+v -0.01792587 0.03854519 0.01529037
+v -0.02491072 0.03749956 0.01249800
+v -0.02597236 0.03221041 0.01529035
+v -0.01542932 0.03783578 0.01529037
+v -0.01314081 0.03692316 0.01529037
+v 0.00137346 0.03099850 0.01529034
+v 0.00204349 0.03165804 0.01479716
+v 0.00242287 0.03217716 0.01352017
+v 0.00245040 0.03221596 0.01249798
+v -0.02597236 0.03605119 0.01249799
+v -0.02597236 0.03537873 0.01307019
+v -0.02597236 0.02155822 0.01529031
+v 0.00283590 0.02985865 0.01529034
+v 0.00476339 0.02910491 0.01487069
+v 0.00481234 0.02919174 0.01352016
+v 0.00324587 0.03121096 0.01249797
+v -0.02597236 0.02155823 0.01249794
+v -0.00282723 0.02155822 0.01529031
+v 0.00422797 0.02857654 0.01529033
+v 0.00498061 0.02772489 0.01511673
+v 0.00528350 0.02772490 0.01352015
+v 0.00525903 0.02776923 0.01249796
+v 0.00479092 0.02917696 0.01249797
+v 0.00111646 0.02155823 0.01249794
+v 0.00051680 0.02155823 0.01356962
+v -0.00211437 0.02177437 0.01529031
+v 0.00465019 0.02772489 0.01529033
+v 0.00500815 0.02596615 0.01514571
+v 0.00516418 0.02572969 0.01352014
+v 0.00520090 0.02548583 0.01249795
+v 0.00466548 0.02490574 0.01249795
+v 0.00041890 0.02295671 0.01529031
+v 0.00453086 0.02584237 0.01529032
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 22
+f 2 22 29
+f 2 29 36
+f 2 36 35
+f 2 35 43
+f 2 43 44
+f 2 44 37
+f 2 37 30
+f 2 30 23
+f 2 23 15
+f 2 15 12
+f 2 12 11
+f 2 11 4
+f 2 4 3
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 15
+f 6 15 16
+f 6 16 13
+f 7 14 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 10
+f 8 10 9
+f 10 20 21
+f 10 21 22
+f 13 16 25
+f 13 25 31
+f 13 31 39
+f 13 39 45
+f 13 45 46
+f 13 46 40
+f 13 40 32
+f 13 32 26
+f 13 26 19
+f 13 19 18
+f 13 18 17
+f 13 17 14
+f 15 23 24
+f 15 24 16
+f 16 24 23
+f 16 23 30
+f 16 30 25
+f 19 26 20
+f 20 26 27
+f 20 27 21
+f 21 27 28
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+f 26 32 27
+f 27 32 33
+f 27 33 34
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+f 38 45 39
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+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_2.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f279fc9a9d8faafa88cf3bd7f944c220aef165
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_2.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.01333547 0.03919855 0.00251064
+v -0.00627964 0.03794627 0.00707167
+v -0.00802348 0.03895664 0.00251064
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+v -0.02058804 0.03895664 0.00251064
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+v -0.00056523 0.03734862 0.00251064
+v 0.00312813 0.03038290 0.00707164
+v 0.01933239 0.02247801 0.00515407
+v 0.01844706 0.02424967 0.00484245
+v 0.01571058 0.02671150 0.00476969
+v 0.01272370 0.02905949 0.00463754
+v 0.01449436 0.02845471 0.00420313
+v 0.01310823 0.03133634 0.00251062
+v 0.01194568 0.03206920 0.00251062
+v 0.00803770 0.03416816 0.00251063
+v 0.00688408 0.03470891 0.00251063
+v -0.02320827 0.03847281 0.00251064
+v -0.03802640 0.03697150 0.00703998
+v -0.04419691 0.03494369 0.00707166
+v 0.00528333 0.02813452 0.00707163
+v 0.02662073 0.00671089 0.00706620
+v 0.02662073 0.00942176 0.00675056
+v 0.01933239 0.01988099 0.00590143
+v 0.02199733 0.01726262 0.00588714
+v 0.02098680 0.02159573 0.00483306
+v 0.02021772 0.02333894 0.00424955
+v 0.01749018 0.02599288 0.00431251
+v 0.01580895 0.02942237 0.00251061
+v -0.03389486 0.03598963 0.00251063
+v -0.03521838 0.03563388 0.00251063
+v -0.03655980 0.03526389 0.00251063
+v -0.04325792 0.03428911 0.00455497
+v -0.04375871 0.03468756 0.00589301
+v -0.05212912 0.03211187 0.00707165
+v 0.00581989 0.02755819 0.00707163
+v 0.01654225 0.01201877 0.00707157
+v 0.01893891 -0.00403294 0.00707152
+v 0.02662073 0.00404984 0.00706619
+v 0.02662073 0.01209705 0.00583131
+v 0.02342817 0.01872122 0.00470760
+v 0.02662073 0.01387583 0.00505671
+v 0.02275746 0.02046444 0.00396068
+v 0.02103151 0.02425680 0.00255434
+v 0.01851860 0.02692497 0.00261775
+v 0.01581789 0.02941526 0.00251061
+v -0.04188073 0.03367722 0.00251062
+v -0.04986661 0.03072444 0.00251061
+v -0.05178930 0.02977813 0.00251061
+v -0.05352419 0.03036155 0.00707164
+v 0.01893891 -0.00426774 0.00707151
+v 0.02662073 -0.01148247 0.00684157
+v 0.01889419 -0.00577615 0.00707151
+v 0.02655813 0.01401101 0.00502055
+v 0.02662073 0.01406082 0.00491027
+v 0.02662073 0.01520636 0.00392316
+v 0.02334769 0.02123287 0.00251058
+v 0.02104045 0.02427103 0.00251059
+v 0.01853648 0.02696766 0.00251060
+v -0.06049060 0.01462292 0.00251055
+v -0.06464897 0.01351295 0.00700194
+v -0.06465792 0.01352006 0.00707158
+v 0.02662073 -0.01217263 0.00680228
+v -0.00219281 -0.03226574 0.00707141
+v 0.02662073 0.01613844 0.00288246
+v 0.02662073 0.01636613 0.00251056
+v -0.06129544 0.01204014 0.00251054
+v -0.06469369 0.01204012 0.00695326
+v -0.06473840 0.01204012 0.00707157
+v 0.02662073 -0.01409371 0.00659154
+v -0.00465206 -0.03285629 0.00707141
+v -0.00189770 -0.03249340 0.00251038
+v 0.00129486 -0.03142614 0.00251038
+v 0.00759950 -0.02893584 0.00251039
+v 0.00818078 -0.02866547 0.00251039
+v 0.01080101 -0.02732783 0.00251040
+v 0.01281312 -0.02627479 0.00251040
+v 0.02662073 -0.01806394 0.00393106
+v 0.02662073 -0.01785761 0.00429046
+v 0.02662073 -0.01716033 0.00503204
+v 0.02662073 -0.01659112 0.00547136
+v 0.02662073 -0.01489772 0.00628616
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+v -0.06128650 0.00409966 0.00251052
+v -0.06465792 0.00510999 0.00698628
+v -0.06467580 0.00506018 0.00707155
+v -0.01264688 -0.03348952 0.00251038
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+v -0.00596665 -0.03309819 0.00251038
+v -0.00339114 -0.03280647 0.00251038
+v -0.02063276 -0.03307686 0.00707141
+v 0.02662073 -0.01848373 0.00301805
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+v -0.02050756 -0.03331876 0.00251038
+v -0.03059498 -0.03153288 0.00707141
+v -0.06085725 -0.00211895 0.00251049
+v -0.05956949 -0.01365258 0.00707148
+v -0.05719072 -0.01347469 0.00251045
+v -0.03652403 -0.02960468 0.00707142
+v -0.03787438 -0.02915643 0.00707142
+v -0.04988449 -0.02512216 0.00707144
+v -0.04745207 -0.02407622 0.00251041
+v -0.05925649 -0.01450640 0.00707148
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+v -0.05445424 -0.01909563 0.00251043
+v -0.05096656 -0.02446757 0.00707144
+v -0.05176247 -0.02396951 0.00707144
+v -0.05011700 -0.02219782 0.00251042
+f 1 2 3
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+f 109 114 111
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+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_20.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b30f2d6d677edf071c3e2d002743af40aab23a3d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_20.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.02816119 -0.01431709 0.01529046
+v -0.01759459 -0.01190054 0.01529047
+v -0.02816119 -0.01422912 0.01606202
+v -0.02816119 0.03411210 0.01529064
+v -0.01759459 -0.01168839 0.01611967
+v -0.02670073 -0.01347364 0.01832532
+v -0.02816119 -0.01415150 0.01656323
+v -0.02816119 -0.01416185 0.01649787
+v -0.01759459 0.03838633 0.01529065
+v -0.02816119 0.03334108 0.01581382
+v -0.01792971 0.03854674 0.01529065
+v -0.01759459 -0.01057585 0.01802704
+v -0.01798350 -0.01078801 0.01832533
+v -0.01826276 -0.01106227 0.01832533
+v -0.02816119 -0.01359783 0.01832532
+v -0.02046276 0.03048986 0.01830765
+v -0.01759459 0.03816382 0.01534799
+v -0.02816119 0.03294781 0.01597930
+v -0.02235763 0.03186114 0.01768881
+v -0.01759459 -0.00995490 0.01832533
+v -0.02816119 0.02254683 0.01832545
+v -0.02045241 0.02744201 0.01832547
+v -0.01759459 0.02464772 0.01832546
+v -0.02324714 0.03025183 0.01815851
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 15
+f 1 15 21
+f 1 21 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 9
+f 1 9 2
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+f 2 6 7
+f 2 7 8
+f 2 8 3
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+f 5 14 6
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+f 12 20 13
+f 16 22 23
+f 16 23 17
+f 16 19 24
+f 16 24 21
+f 16 21 22
+f 18 24 19
+f 18 21 24
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_21.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f3ed02bf55b688cfa4d81cc1ff16208cb5612d5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_21.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02961960 0.03673623 0.01249799
+v -0.03074487 0.03666640 0.01249799
+v -0.02857867 0.03445120 0.01507931
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+v -0.02597236 0.03605132 0.01249799
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+v -0.02597236 0.02155971 0.01249794
+v -0.05253082 0.03119156 0.01249797
+v -0.04638796 0.02511203 0.01508938
+v -0.04720753 0.03033728 0.01375473
+v -0.04112265 0.02935670 0.01499673
+v -0.03032059 0.03318389 0.01529035
+v -0.02643881 0.03317794 0.01529035
+v -0.02597236 0.03221075 0.01529035
+v -0.02597236 0.02155970 0.01529031
+v -0.04897054 0.02155971 0.01249794
+v -0.05289449 0.03033728 0.01249797
+v -0.04609281 0.02296221 0.01529031
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+v -0.04596631 0.02652792 0.01483952
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+v -0.04894683 0.02155971 0.01252227
+v -0.05279172 0.03007282 0.01249797
+v -0.04646702 0.02313604 0.01514022
+v -0.04818259 0.02155971 0.01313985
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 12 21
+f 1 21 28
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+f 1 22 13
+f 1 13 7
+f 1 7 2
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+f 27 29 28
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_3.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48df463f14c47082e7b4c19c14915daafbcf4aa5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_3.obj
@@ -0,0 +1,2140 @@
+# https://github.com/mikedh/trimesh
+v -0.02058403 0.04308720 -0.00427467
+v -0.02058403 0.04257565 -0.00654220
+v -0.02325174 0.04257565 -0.00660261
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+v -0.02058403 0.04270942 -0.00173341
+v -0.01793442 0.04266220 -0.00173341
+v -0.01793442 0.04299276 -0.00427467
+v -0.01793442 0.04252056 -0.00637697
+v -0.02058403 0.04185162 -0.00781222
+v -0.02325174 0.04193032 -0.00787387
+v -0.02591040 0.04190671 -0.00780359
+v -0.02591040 0.04252056 -0.00653233
+v -0.02591040 0.04292980 -0.00427467
+v -0.02325174 0.04263860 -0.00173341
+v -0.02058403 0.04220574 -0.00031296
+v -0.01793442 0.04219000 -0.00032654
+v -0.01590877 0.04214278 -0.00039065
+v -0.01413633 0.04208769 -0.00050902
+v -0.01512203 0.04242611 -0.00150653
+v -0.01260806 0.04232380 -0.00211318
+v -0.01527576 0.04278027 -0.00427467
+v -0.01527576 0.04240251 -0.00613283
+v -0.01793442 0.04169422 -0.00764823
+v -0.02058403 0.04054520 -0.00866054
+v -0.02325174 0.04062390 -0.00872342
+v -0.01527576 0.04018317 -0.00847559
+v -0.01793442 0.04038780 -0.00857793
+v -0.02591040 0.04060029 -0.00876288
+v -0.02856906 0.04049798 -0.00877398
+v -0.03123676 0.04033270 -0.00873452
+v -0.02856906 0.04180440 -0.00757055
+v -0.02856906 0.04239464 -0.00629929
+v -0.03074844 0.04224511 -0.00594171
+v -0.02856906 0.04266221 -0.00427467
+v -0.02856906 0.04237101 -0.00224758
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+v -0.02325174 0.04215851 -0.00037956
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+v -0.01260806 0.03962436 0.00217650
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+v -0.02058403 0.03817632 -0.00926226
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+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_4.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..440e6c55bb83c6abe0434f72cdd310a232ecdd6c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_4.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01160503 0.00461884 0.01249788
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+v 0.01365258 0.00338106 0.01352006
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+v -0.00937724 -0.03022070 0.01529012
+v -0.00461990 -0.03173072 0.01249774
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+f 1 33 45
+f 1 45 54
+f 1 54 53
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+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_5.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d87d93c6bc6c64827da235d3f970e457921438a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_5.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.01706089 0.00137691 0.00707154
+v 0.01539410 0.00137689 0.01249760
+v 0.01885905 -0.00369798 0.00707152
+v -0.06387282 0.00137691 0.00707154
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+v -0.06385640 -0.00105278 0.00707153
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+v -0.06316669 0.00137690 0.01170727
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+v -0.05194255 0.00089025 0.01249759
+v 0.01893294 -0.00427499 0.00707151
+v 0.01704446 -0.00521004 0.01249757
+v -0.06424230 -0.00103193 0.00756974
+v -0.05957037 -0.01365658 0.00707148
+v -0.06494022 -0.00103193 0.00884074
+v -0.06488275 0.00137691 0.00889386
+v -0.06488275 0.00137690 0.01041927
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+v -0.05968532 -0.00887369 0.01240673
+v -0.05198361 -0.00104933 0.01249759
+v -0.05198361 -0.00103890 0.01249759
+v -0.05195897 0.00083464 0.01249759
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+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_6.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7b684724d7ea4d9dcbda305004883db8acbd404
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_6.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00836047 -0.01598893 0.01529045
+v 0.00830203 -0.01598893 0.01541763
+v 0.00815466 -0.01652950 0.01529045
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+v -0.01759459 -0.02883870 0.01682978
+v -0.01759459 -0.02775198 0.01742332
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+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_7.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..310c5464f67e60baaae0b817b419d357778f78f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_7.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01348177 0.00292626 0.01529098
+v 0.01347194 0.00292626 0.01535107
+v 0.01486724 0.00082123 0.01529097
+v -0.01759459 0.00292626 0.01529098
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+v 0.00070142 -0.00103017 0.01906440
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+v -0.00038927 -0.01040005 0.01997872
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+v 0.00680992 -0.01598753 0.01609663
+v 0.00879477 -0.01415096 0.01584794
+v 0.00821831 -0.01598753 0.01558814
+v 0.01046519 -0.01331413 0.01531357
+v 0.01046846 -0.01331783 0.01529092
+v -0.01459439 -0.01593199 0.01529091
+v -0.01452888 -0.01584683 0.01606242
+v -0.01759459 -0.01057964 0.01802705
+v -0.01759459 -0.00364433 0.01910831
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+v -0.00824024 -0.01049077 0.02001292
+v -0.01392622 -0.01540990 0.01733549
+v 0.00836243 -0.01598753 0.01529091
+v 0.01045536 -0.01333449 0.01529092
+v -0.01323185 -0.01598753 0.01529091
+v -0.01281260 -0.01598753 0.01553544
+v -0.01286501 -0.01590422 0.01601851
+v -0.01393932 -0.01540990 0.01733549
+v -0.01759459 -0.00930218 0.01876298
+v -0.01759459 -0.00637884 0.01910275
+v -0.00898374 -0.01049077 0.02001292
+v -0.00461117 -0.01598753 0.01585672
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 29
+f 1 29 39
+f 1 39 38
+f 1 38 40
+f 1 40 30
+f 1 30 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 22
+f 1 22 13
+f 1 13 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
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+f 3 7 8
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+f 4 19 10
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+f 44 46 45
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_8.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfca638909e9e1c08cf9406daf64eafc25186394
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_8.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01759242 0.03838590 0.01529111
+v -0.01542997 0.03783673 0.01529111
+v -0.01759242 0.01974853 0.01529104
+v -0.01759242 0.03816331 0.01534771
+v -0.01398180 0.02648279 0.01991217
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+v -0.01363991 0.03445408 0.01740240
+v -0.00567609 0.03177388 0.01753368
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+v -0.01759242 0.02265496 0.01904184
+v -0.01398180 0.02625107 0.01991217
+v -0.01260332 0.02667619 0.02001888
+v -0.01102885 0.02669808 0.02003001
+v -0.00047576 0.02659226 0.01996413
+v 0.00137310 0.03099846 0.01529108
+v -0.01495741 0.01974852 0.01790337
+v -0.01759242 0.02046738 0.01835988
+v 0.00453293 0.02584240 0.01529106
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+v -0.01260332 0.02580772 0.02001887
+v -0.01759242 0.02250170 0.01899823
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+v -0.01102885 0.02577123 0.02003000
+v -0.00047576 0.02606862 0.01996413
+v 0.00465270 0.02772529 0.01529107
+v 0.00422805 0.02857734 0.01529107
+v 0.00283651 0.02985632 0.01529108
+v -0.00220703 0.01974852 0.01790337
+v -0.00461991 0.01974852 0.01896992
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+f 1 9 17
+f 1 17 29
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+f 1 20 11
+f 1 11 3
+f 1 3 10
+f 1 10 19
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+f 20 26 21
+f 21 26 30
+f 22 24 25
+f 24 31 26
+f 24 26 25
+f 26 31 30
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_9.obj b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564b50ab2b711eccd52d815b59f75471383140e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_collision_9.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02839459 0.00791757 0.01832623
+v -0.01832738 0.00620885 0.01832622
+v -0.04196099 0.00791757 0.01832623
+v -0.02900443 0.00791757 0.01984153
+v -0.01759459 0.00605486 0.01832622
+v -0.02940771 0.00791757 0.02033305
+v -0.04261509 0.00679108 0.01832622
+v -0.04257329 0.00670670 0.01850900
+v -0.04130935 0.00791757 0.01959389
+v -0.01759459 0.00447904 0.01882150
+v -0.01759459 -0.00995645 0.01832616
+v -0.02421672 0.00585444 0.02280886
+v -0.03123722 0.00791756 0.02049653
+v -0.02591590 0.00606751 0.02304739
+v -0.04271591 0.00651896 0.01832622
+v -0.04125033 0.00681218 0.02026337
+v -0.04095033 0.00791757 0.02008863
+v -0.01759459 0.00420902 0.01889118
+v -0.01759459 -0.00930039 0.01876356
+v -0.01887820 -0.01055766 0.02013358
+v -0.01798312 -0.01079182 0.01832616
+v -0.02591590 0.00419635 0.02380155
+v -0.02397082 0.00419636 0.02306561
+v -0.04033804 0.00791757 0.02017761
+v -0.02769869 0.00590507 0.02286568
+v -0.04271591 0.00643879 0.01832622
+v -0.04115689 -0.00049100 0.02027352
+v -0.01886836 -0.00625634 0.02016898
+v -0.01759459 -0.00364264 0.01910876
+v -0.01759459 -0.00637658 0.01910340
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+v -0.01883394 -0.00887004 0.02016307
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+v -0.04161673 -0.00625634 0.01832618
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+v -0.02854460 -0.01363335 0.01832615
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+v -0.02891591 -0.01359116 0.01832615
+v -0.03819623 -0.01061462 0.01832616
+v -0.03920689 -0.00958728 0.01832616
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+f 22 36 33
+f 22 27 37
+f 22 37 38
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+f 22 39 40
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+f 23 32 28
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+f 26 38 27
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+f 28 32 29
+f 29 32 30
+f 31 34 35
+f 33 36 42
+f 33 42 34
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 36 40 45
+f 36 45 46
+f 36 46 42
+f 38 41 47
+f 38 47 40
+f 38 40 39
+f 40 47 48
+f 40 48 45
+f 41 49 47
+f 42 50 43
+f 42 46 50
+f 45 48 47
+f 45 47 51
+f 47 49 52
+f 47 52 51
+
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..27c251af5a9f2ec5f969b6933b4abf055c047f26
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/mjcf/mesh/comb_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b861319eb782fd1b9258c1778a7920d95a3c37033551ba95e3fc241bb31da1d
+size 9195306
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/textures/material_0.png b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..27c251af5a9f2ec5f969b6933b4abf055c047f26
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b861319eb782fd1b9258c1778a7920d95a3c37033551ba95e3fc241bb31da1d
+size 9195306
diff --git a/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/video.mp4 b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..619843a23a69797755bcc7ecc9ddc93c37dd722d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca9f74731a930879700593e6f869d05b29f6adada37846f9c0be0ba099713a4a
+size 354548