diff --git a/.gitattributes b/.gitattributes
index 3a2582fb1833caf14430fbb9e470c6a2a9964f40..5d226fd6119b47615f773ade86fce367b39b8f83 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2539,3 +2539,5 @@ dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/mesh/na
 dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/nail_clipper_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/mesh/nail_clipper_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mouthwash_cup_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..805c8dbc209995e9cb4339791f7878a29a181c93
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_014_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..40a0ce69b4619de700f8ac2694a61770122ab062
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/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/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.glb b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..24fbb72127327f2badef2addbba77bccb1324679
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.glb
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.mtl b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a764f4b7986ba5832d0782b55ae160bef90f9404
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.mtl
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+newmtl mouthwash_cup_014_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ae2d551395bb53b1f75e585bd1511e26c8ce2a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014_collision.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..903fd66daa08edcb762d8584bbc54801acf5e5a7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mesh/mouthwash_cup_014_collision.obj
@@ -0,0 +1,13288 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7244de2e74af591f80a6bccfac6364511ffd7edd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision.obj
@@ -0,0 +1,13288 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_0.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb39696bd5dc4ff83ecf1636743286dbc60dcbc6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_1.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e90972a08fde2f9cd826116eed4f2e7d3db9439
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_1.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_10.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc24d60f976723d135a6c597e61b16dabc730129
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_10.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_11.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3884492061f66e8097945d3d66218bcb2694b029
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_11.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_12.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804f6ef8d9b9a9d20b63a33d08ddc836ec317137
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_12.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_13.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79158269c0f4821774bfec9c53f255fa331f3411
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_13.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_14.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c6fcde38650473fb2f0f6c5a5af78409b839ba
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_14.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_15.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a37e99863c6906d8a6bacecdca9a3bac164cc1fb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_15.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_16.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0513f9a0ea7a54afade820c37496ef0031b6820a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_16.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_17.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eee70db325da5b371e9284caed0abb3cc8998989
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_17.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_18.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dea655d8c7dc40c0ba8d09480d73b22764adebe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_18.obj
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_19.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7927c128f278ee1ff9a3149b4b3d41b1d495d7ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_19.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_2.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76816c68c306221e49ecb964abb46bcfeb91b84b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_2.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_20.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451d6178b2c525237ac66228ec77e8ed3f04ad80
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_20.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_21.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38bd3cb7b35e4c1c039c29ccf0370ec59557e9d6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_21.obj
@@ -0,0 +1,655 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_22.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd70e9c5ef93d1428b7f9713af7469c237c7df87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_22.obj
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_23.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45525e11a3f58158c1519c38cd96ba65b7e329ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_23.obj
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_24.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346a7a7d7c2e8bcd418382518b3d9c2e4690095f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_24.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_25.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e4e5f2adc87dab404837c362319f1aed21a9f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_25.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_26.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..178e05791d97a31aefe8024f4af23d293b0495e9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_26.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_27.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ae855337a73b9985b81864bd9a148aaf58ed671
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_27.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_28.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a0e6770b1ad026181b0523b5989d7f1ec645a85
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_28.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_29.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8f3f74d20ed32459594aae2d788766fe35863b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_29.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_3.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a828bb74a8bd2e816357f3e2d092da0a65b3881d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_3.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_30.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09554a034beaf4648ca71fa3dccf1976e0f82b2e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_30.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_31.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16bca9d9f76f6f53159bf0d855d2c73462e9dbc7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_31.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_32.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cef7fd2051e84a836ee92c7aefb591829b6075a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_32.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_33.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae20a1ce1d293947e02db826efa67a304e78c8be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_33.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_34.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d688abb8663ebc9013768bc1b94ac051a4d0d627
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_34.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_35.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd635369cbf42d9fe0d24b66f335c15632f2a2e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_35.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_36.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3c635b9f6e6a4959620762331d64098b4c4e4d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_36.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_37.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2b170e766d8ec361f2c66d1d908c25a2b907d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_37.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_38.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1625b05918916e046230861f3699e4436e3ec26
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_38.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_39.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e53184bb81ba3387296de79bcf0c873fc4afca42
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_39.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_4.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d2200d51396c7f2482104f23c883e51ed287e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_4.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_40.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8d531ac37b62a84e91aa9a0dc2c64dc0f69b88
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_40.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_5.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66a50b714d168530bdc20dd9e5c16830fdd0947
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_5.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_6.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a23007d350299b4043776340a597cfa81493e127
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_7.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1906ab9ef97bccce4c4b117c6e0e0a6bfc7b266f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_8.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58bd13b7acd012545640d64257eb08f7a1c39ee9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_8.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_9.obj b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbaaab235fe40e1610030fb95011c354e4d68ac1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mesh/mouthwash_cup_014_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mouthwash_cup_014.xml b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mouthwash_cup_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..647279647e7985d7ddc8515ba4343ed364281837
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mjcf/mouthwash_cup_014.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_014">
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+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
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+    <body name="mouthwash_cup_014">
+      <joint type="free" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mouthwash_cup_014.urdf b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mouthwash_cup_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f2490a3151767eeb59c35cf31bec60cc1eea0094
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mouthwash_cup_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_014">
+   <link name="mouthwash_cup_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>805b6705d7885672b10350340063f862</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>gray mouthwash cup</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tapered gray plastic cup with flared rim and pedestal base</description>
+         <min_height>0.1118</min_height>
+         <max_height>0.1118</max_height>
+         <real_height>0.1118</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154211</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033503 -0.036930 -0.058547</min>
+            <max>0.033644 0.033070 0.053246</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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/805b6705d7885672b10350340063f862/mouthwash_cup_014.usd b/dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/mouthwash_cup_014.usd
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