diff --git a/.gitattributes b/.gitattributes
index 605be6076ac8156826cc0f53a554e6542ccf54c0..73305a56bfde3e18460c16c01f478b2ca0cb5383 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2509,5 +2509,5 @@ dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_03
 dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/mesh/comb_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/mesh/nail_clipper_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5710da344cc85f0abad5a816e6d98e5c/comb_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5710da344cc85f0abad5a816e6d98e5c/mesh/comb_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mouthwash_cup_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..215404d470e14f6f9d8e47c49a2672f10a01a53b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_035_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3ecfd5a6b3a5be47ea1b4f2cb2b03b5f40e771d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.glb b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.mtl b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6901df34b83f6e78dba7a25378d0309f5751f6cf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.mtl
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+newmtl mouthwash_cup_035_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fcc626a40da3fd9af91c5b1fd31a43c0ef8fb56
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035_collision.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8569ca91b0d26c6e3b8916392bcf5637c39a219
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mesh/mouthwash_cup_035_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035.obj
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a065d2b4c5d361b4b19164708c5afbb4dbf3ea96
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_0.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e150a606f618fd5561984fc50cefc6347da2b5a7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_0.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01656956 -0.03025107 0.07929232
+v -0.00001655 -0.03218732 0.07928715
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+
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_1.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d91a33b42c254a3d08bff2271756a50c1dca04
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_1.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.02225181 0.02772298 -0.00030853
+v -0.02293298 0.02898571 0.02659049
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+
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_10.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e3946430faab68331166cfb5bf916bbc5449a15
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_10.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.01832162 -0.02949553 -0.00030874
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+
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_11.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd509fa795b403ae2dc2ced12fe953f29447c715
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_11.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.03322807 0.02071681 0.07560931
+v 0.03308436 0.02119457 0.07560931
+v 0.03291743 0.02071681 0.07730130
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+v 0.02308287 0.02071699 0.02659827
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_12.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec1fd38fe9d962971067e612a88458bec36d427
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_12.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_13.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a622d8baee8737f539c46a73b38fe650d4a87a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_13.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_14.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51c9b42023a5c93dd84188bd69ba7f3692c28591
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_14.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_15.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab4f4f711dad8dd1b7851bbcff5c73e4057cfda9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_15.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_16.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00a19a1c1256c20f4c1130fbe8dc31aecf8a696b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_16.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_17.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bad4916c4776cbe0d8541cff3011d0324ea00264
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_17.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_18.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a68f59067d1216655ae92c28189b45ce110caaa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_18.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_19.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d68af478e37fc6f02d849006501e1a7d4e648c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_2.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742014cbdfdb929af0668212fdb0f201bd5f61f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_2.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.00001655 0.03219329 0.07929424
+v -0.01072761 0.03219329 0.07929424
+v -0.01934602 0.03024168 0.07941315
+v -0.00001655 0.03024168 0.07925804
+v -0.00001655 0.03275944 0.07903055
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+v -0.00877877 0.03334752 0.07875652
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+v -0.01463097 0.03219329 0.07928389
+v -0.01658170 0.03219329 0.07924253
+v -0.01934602 0.03149159 0.07920634
+v -0.01934602 0.02958283 0.07921667
+v -0.01934602 0.02883328 0.07891162
+v -0.00001655 0.02967752 0.07898401
+v -0.00001655 0.03334752 0.07875652
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+
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_20.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f844c22831b0b754c96aacb9608ca49f4521160
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_20.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.02958521 -0.01681666 -0.00030869
+v -0.02962760 -0.01657989 -0.00030869
+v -0.02319897 -0.01681666 -0.00030869
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+
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_21.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bee8d780fdb04a1c983fd42f7958b521023c9964
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_21.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.02978411 0.01462764 -0.00031122
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_22.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fbf1a9fe40661d28e1c9041a626ce9627783c7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_22.obj
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_23.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abce6e8ca06a608807c6b40db8894570395ace43
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_23.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_24.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07d11518038884319140bdeb004cfbb5360abad5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_24.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_25.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7d26bf8fb531d616934cb5dd3e82e29bbe7d4ec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_25.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_26.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04e89bb38b4f948f6156b1bd932f46b36eaf15bf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_26.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_27.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f1e21d261beb10285433023b7d22d73ef57bf48
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_27.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_28.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ca037a68eaee100b8d6caf86efbdff97a920382
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_28.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_29.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff60af56e54fb2adc918ef05229d4fea0ef95229
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_29.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_3.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b4f24d447f6ab784c9c44fad9ac317a88ae7864
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_3.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_30.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27bbc9171d6aa7f543b99723fa77a0b294b7c80c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_30.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_31.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e938f19af7f96658271b5451c7d57f65f2e9955
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_31.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_32.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f829bd41b50cdb4d86738fb6f2c82d5bfcb73122
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_32.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_33.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29133247d50e02a37cdcf8e5153c38f52d4ce34e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_33.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_34.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f1660ff6e6fd44f848725f83ec06605309206b0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_34.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_35.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2588975f8b2df5791510c9834fed388d4a647c2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_35.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_36.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c1a3178e572d73d623bf3b5ce9a339257329f30
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_36.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_4.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..870b6297f8f9f3aa20d7fb53c67ddae8e183e5e5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_4.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_5.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c11bb72b1ced25a375f97cc7ff43cb106ffde5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_5.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_6.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e15de4aa4317e0a417c8c6c6ec5152ec05a7d68
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_7.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95258ec0745a6ef28a6143067512bf11efd8bfa0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_8.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92534318ffd35ea5358c5731415f4bc7c3187d4e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_8.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_9.obj b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c30fac356da7360cc7b4fd00396fa77ee1f826
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mesh/mouthwash_cup_035_collision_9.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.03115940 0.01463373 0.02658780
+v 0.02509752 0.01463373 0.02658780
+v 0.03116332 0.01458165 0.02658780
+v 0.02978395 0.01463383 -0.00030595
+v 0.02359125 0.01463383 -0.00030595
+v 0.02319021 -0.01665432 -0.00030606
+v 0.02455470 -0.01665440 0.02214841
+v 0.02479517 -0.01665442 0.02610058
+v 0.02482494 -0.01665442 0.02658769
+v 0.03117272 0.01424469 0.02658780
+v 0.02982859 0.01268253 -0.00030595
+v 0.02958108 -0.01665432 -0.00030606
+v 0.03099491 -0.01665442 0.02658769
+v 0.03119152 0.01268243 0.02658780
+v 0.03116880 0.01268243 0.02612702
+v 0.02983095 -0.01072385 -0.00030604
+v 0.03097768 -0.01665442 0.02625593
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+v 0.03101293 -0.01655639 0.02658769
+v 0.03119230 -0.00877265 0.02658772
+v 0.03119230 -0.01072395 0.02658771
+v 0.03119074 -0.01267524 0.02658770
+v 0.02982859 -0.01189707 -0.00030604
+v 0.02967115 -0.01579967 -0.00030606
+v 0.02978238 -0.01462644 -0.00030605
+v 0.03116175 -0.01455915 0.02658770
+v 0.03118917 -0.01312554 0.02658770
+v 0.02982703 -0.01267514 -0.00030605
+v 0.02980040 -0.01384837 -0.00030605
+v 0.03117115 -0.01423138 0.02658770
+v 0.03116489 -0.01445193 0.02658770
+f 1 2 9
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+f 27 30 28
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+
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mouthwash_cup_035.xml b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mouthwash_cup_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2340eafe3ee9041061c8c2a41763ba09e07b1816
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mjcf/mouthwash_cup_035.xml
@@ -0,0 +1,88 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_035">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mouthwash_cup_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_035_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_035_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_035_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_035_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_035_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_035_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_035_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_035_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mouthwash_cup_035_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_035_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_035_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mouthwash_cup_035_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mouthwash_cup_035_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mouthwash_cup_035_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mouthwash_cup_035_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mouthwash_cup_035_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mouthwash_cup_035_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mouthwash_cup_035_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mouthwash_cup_035_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mouthwash_cup_035_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mouthwash_cup_035_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mouthwash_cup_035_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mouthwash_cup_035_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mouthwash_cup_035_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mouthwash_cup_035_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mouthwash_cup_035_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mouthwash_cup_035_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mouthwash_cup_035_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mouthwash_cup_035_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_035">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" 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/5be39b4ea9415787bf7ad2842e507130/mouthwash_cup_035.urdf b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mouthwash_cup_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3b1644da086cc7b8c15ad886f0ab4da5e91c4ce6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mouthwash_cup_035.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_035">
+   <link name="mouthwash_cup_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>5be39b4ea9415787bf7ad2842e507130</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>dark gray square-rounded mouthwash cup with matching base</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123041</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036064 -0.034986 -0.040517</min>
+            <max>0.036066 0.034992 0.079483</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/5be39b4ea9415787bf7ad2842e507130/mouthwash_cup_035.usd b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mouthwash_cup_035.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/mouthwash_cup_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba1e54d1a21e8fead7e65f554e48e138390f64fc8128da6c9bf2287d82b7fd7e
+size 4503577
diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/textures/material_0.png b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/video.mp4 b/dataset/bathroom_supplies/personal_care/5be39b4ea9415787bf7ad2842e507130/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 289899