diff --git a/.gitattributes b/.gitattributes
index ae0d141c41b38bc3957d2cdd36edb4a052d93c02..9b5f6da4e42fbffcc99633b742a139d8d15d5b93 100644
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dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/mesh/hair_clip_009.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67/mesh/mouthwash_cup_021.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67/mouthwash_cup_021.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/comb_009.urdf b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/comb_009.urdf
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new file mode 100644
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new file mode 100644
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diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/comb_009_collision.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/comb_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12014290ca9fcf0a9f4528efdc8ac77ebfd2ea6f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/comb_009_collision.obj
@@ -0,0 +1,7909 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/comb_009_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/comb_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fdc74f25f551f0d631b5b6a1cf4c099effa9845
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/comb_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0dfeee0795503e0f744ab16cca941c7b67fa1a6bd52f30a4c068ac49edd033f
+size 12990175
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..16cd28a37457dad446554009ac7961f23a73f98e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl comb_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
+map_Kd comb_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fdc74f25f551f0d631b5b6a1cf4c099effa9845
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0dfeee0795503e0f744ab16cca941c7b67fa1a6bd52f30a4c068ac49edd033f
+size 12990175
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/comb_009.xml b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/comb_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3e174eb2f912f045b88bf384e424db1809b22126
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/comb_009.xml
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diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..393cce2862fb47b0f3d7eea4331c1b70e616abce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009.obj
@@ -0,0 +1,127458 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..786d24502fc519a5b6c261e090e2b62fcba9241b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision.obj
@@ -0,0 +1,7909 @@
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diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_0.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84826cbae516158703e59a002619ce80d9b6310f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_1.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aaef48549c98568f4970d87cdddecc7920cdb0e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_10.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8082545fef9368bbcaa0f6a5eb58b26f30ed06a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_11.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..023c691c5172bc55b6b03144e8e45a825fa7af8b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_11.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.04279328 0.01115498 -0.00937206
+v -0.04241675 0.01115498 -0.00772324
+v -0.04220044 0.01401996 -0.00937205
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+v -0.03351609 0.01596521 0.00367320
+v -0.03393268 0.01596521 0.00357014
+v -0.03567916 0.01596521 0.00302544
+v -0.01444897 0.01115492 0.00903003
+v -0.01444897 0.01146901 0.00903003
+v -0.01549846 0.01596519 0.00729289
+v -0.01857484 0.01596519 0.00689540
+v -0.02026524 0.01596520 0.00660097
+v -0.04155152 0.01596525 -0.00937204
+v 0.03824998 0.01367149 -0.00937205
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+v -0.00320097 0.01115492 0.00942383
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+v -0.00627735 0.01356500 0.00849637
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+v 0.03833810 0.01402372 -0.00929293
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+v 0.01660319 0.01115493 0.00573973
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+f 1 21 8
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+f 1 4 10
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+f 1 25 24
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_12.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..275d58a79add889d14d43c61302509ed7e3cadbd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_12.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.02442135 -0.03845705 0.00757231
+v 0.02367953 -0.03845706 0.00965128
+v 0.02437684 -0.04409793 0.00757229
+v -0.00589238 -0.03845705 0.00757231
+v 0.02339171 -0.03845706 0.00996221
+v 0.02333236 -0.04094796 0.00969394
+v 0.02317510 -0.04305730 0.00934947
+v 0.02092590 -0.04722148 0.00975083
+v 0.02052828 -0.04920363 0.00919805
+v 0.02242437 -0.04758487 0.00757228
+v -0.00589238 -0.05112466 0.00757226
+v -0.00589238 -0.03845708 0.01663095
+v 0.02215138 -0.03845706 0.01115817
+v 0.02193181 -0.04094796 0.01120084
+v 0.01961733 -0.04487098 0.01170584
+v 0.02100898 -0.04950921 0.00757227
+v 0.01756990 -0.04627500 0.01220067
+v 0.01438008 -0.04932753 0.01242624
+v 0.01093803 -0.05221321 0.01210717
+v 0.00469488 -0.05520460 0.01200453
+v -0.00589238 -0.05296642 0.01026394
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+v -0.00589238 -0.04090504 0.01645922
+v -0.00183017 -0.04264769 0.01795289
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+v -0.00002607 -0.03845708 0.01684332
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+v 0.02039475 -0.04094796 0.01208790
+v 0.01390828 -0.04281451 0.01500210
+v 0.00487885 -0.05533179 0.01034827
+v 0.00479576 -0.05528223 0.00855585
+v 0.00578980 -0.05396575 0.00757225
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+v 0.00282846 -0.05437044 0.00757225
+v 0.01395279 -0.03907485 0.01503057
+v 0.01293798 -0.03845708 0.01518604
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+f 1 11 4
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_13.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..556a989bf8cbd4405b293d2d9ed784a79b07268a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_13.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.03734325 -0.02549175 0.00757236
+v -0.03859913 -0.02693231 0.00872561
+v -0.03859913 -0.02667859 0.00872561
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+v -0.03669953 -0.02810716 0.00757235
+v -0.03859913 -0.02693231 0.00895879
+v -0.03582861 -0.02949768 0.00853462
+v -0.03859913 -0.02667859 0.00895879
+v -0.03705294 -0.02229772 0.00940724
+v 0.02564022 -0.02229772 0.00757237
+v -0.03421932 -0.02892893 0.00757234
+v -0.03487566 -0.02949768 0.00825818
+v -0.03578444 -0.02949768 0.00913182
+v -0.03663010 -0.02804163 0.00992001
+v -0.03019923 -0.02949771 0.01561242
+v -0.03571501 -0.02705988 0.01197118
+v -0.03704032 -0.02229773 0.00975649
+v -0.03705294 -0.02229772 0.00944523
+v -0.03571501 -0.02649888 0.01197118
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+v 0.02587373 -0.02522746 0.00757236
+v -0.03069779 -0.02949768 0.00757234
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+v -0.03449700 -0.02229773 0.01133813
+v 0.01821221 -0.02229773 0.01115875
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+v 0.02312846 -0.02737774 0.01207037
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+v 0.02434016 -0.02949768 0.00757234
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+v -0.02684810 -0.02229775 0.01529275
+v -0.03308334 -0.02229773 0.01208727
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+v -0.00628066 -0.02229775 0.01573485
+v -0.00934779 -0.02229775 0.01600180
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_14.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579044eebf991ad311d0b1e15ddc299ac07856a3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_14.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.04406911 0.00535190 -0.00937392
+v -0.04387440 0.00535190 -0.00774329
+v -0.04395553 0.00612210 -0.00937392
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+v -0.04328214 0.00925912 -0.00937391
+v -0.03890105 0.00535186 0.00368664
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+v -0.04241403 0.01115451 -0.00772395
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_15.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..416939d7f27bbe4abcd73ef8bc3610ff944db42f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_15.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v -0.02841374 -0.04117965 0.00757230
+v -0.02941295 -0.04270128 0.00864603
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+v -0.00589468 -0.04352497 0.00757229
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_16.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e465c19dfcf6f5adb862cc1aabd46ee0f526942a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_16.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01227380 -0.04454595 0.00777625
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+v -0.01232788 -0.04454596 0.01031489
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_2.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cecfc994acf1211f6f1fbb27f1a1cd9f88ae25dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_2.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.02976553 0.00015239 0.00172667
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_3.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd429996f7b26af8146a616c06bb07731ac4370b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_3.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_4.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b5c28eafe8d9a596ef75278b04a01fb8eddbf7a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_4.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01132607 0.00015796 0.00757245
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_5.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f958cc28174c5dc50c1230f531bd47e2b31b396
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_5.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.03567565 0.01596615 0.00302635
+v -0.03557693 0.01726866 0.00291200
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_6.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..861429f9e1040ccb724dcd87de7e26a10ca8b43b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_6.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00935385 -0.00147076 0.01278671
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_7.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5e3e430f39e07210aee15cc373c94eb7955ca6a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_7.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_8.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89159a5d86f9093cf70e9524420ce770ee21c2d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_8.obj
@@ -0,0 +1,2446 @@
+# https://github.com/mikedh/trimesh
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+v 0.04144866 -0.00015575 -0.01510669
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diff --git a/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_9.obj b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba34ca8a34dce4108b11d5e01970185651dae23a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mjcf/mesh/comb_009_collision_9.obj
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