diff --git a/.gitattributes b/.gitattributes
index 6b0ff56684a85a734d47e46248b6c824662d1d8a..1071f2d0ffcc6a433c0e1241207593006cd62e7a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2495,3 +2495,5 @@ dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/mesh/na
 dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/nail_clipper_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/toothpaste_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mouthwash_cup_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86620cbd2edc0f4ba37e0d41a395af94c3332179
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_027_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/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/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027.glb b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027.glb
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+size 13955296
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027.mtl b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5eba08b2d46c0960f4de9125f770d1eb2fceceba
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027.mtl
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+newmtl mouthwash_cup_027_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73adc2beeb3c38b1b13ffb625aff8be15312ef88
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_027_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027_collision.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d956fef4d353d78c288089fdf8d9cc152a194ce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mesh/mouthwash_cup_027_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6f987f2392c718f4df2e5461401108355f12f7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision.obj
@@ -0,0 +1,20091 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_0.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d38913d3a254cbbfb77bc1c617d8d775cef82f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_0.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_1.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941fdaeb7d477d40bf8b96e007c219058c056c2d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_1.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_10.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0bf4d213f5039660d201eaf89d1b763aa40286f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_10.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_11.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..947793606704db2e59984a4c287e29f30a85dc87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_11.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_12.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03093657f5819e6f51a4a8d74ea6cc4420ae0f7b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_12.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_13.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2d56e194c92b0852f760795093a3ea66a5affc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_13.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_14.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c19745067a2e4e5a41a5fe3bc0759a8f21c93939
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_14.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_15.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..575df191d0f53c71285e79b0015759df54e73d5f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_15.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_16.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..960a6068e9d791cf59f6f7fee4fdad7fd79cfc97
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_16.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_17.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2507c512018adc6d08f95ed82622e8de8322078
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_18.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fd64cafab9115c652a9d860d4351fb75fd61df5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_18.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_19.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8eb7578c3411ea6f81d10f13343688b117385e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_19.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_2.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5e9c656dc4c0cc31824276f0c8b994ee54b1698
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_2.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.00004558 0.01779052 0.00987122
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+v 0.00004558 0.02070829 0.00987123
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_20.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b715b81dc802445896a1d4a69045e371c0047291
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_20.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.01075681 0.01770509 0.00987122
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+v 0.01075681 0.01426763 0.00987120
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_21.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace2a9295b23440bee62b688c0c2c8d1cb7748a3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_21.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_22.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df20f4f7a478e4955a69e525051dd2d71dca281f
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_23.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d522aa8cb567bfcbaeb78b8bd1d295703f529580
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_23.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_24.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9197d0cee8a35200a4f0584cd55f2324975188cb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_24.obj
@@ -0,0 +1,160 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_25.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be353ab17e83752d4cbcc954a497908ee801bc7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_25.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_26.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b82f6c6561b346de609f81f26e4030bed5e6d960
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_26.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_27.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e25f362d1260909c92ec6a9f93af80eea7c3a3c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_27.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_28.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90f69b18223eab0ab1817ab513f9a9049fa59b0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_28.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_29.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a939f621b5d2937293f15d785c1a41478b119f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_29.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_3.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5efce3ce5e5100506b000187f92652f2233960b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_3.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_30.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b10550acc55f7fdf22411111f52486adca0972
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_30.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_31.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca97e3fcfdaf0de69ac1914186941cc2019054d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_31.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_32.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc68245d55e47d9133cc9c90cedb677a43959f36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_32.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_33.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0584dc3d7302517e0bb1bc4ef77baddc885f66
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_33.obj
@@ -0,0 +1,142 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_34.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c360e8855eb7f855c32fac846a1fc35a7bf05539
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_34.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_35.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f712187977a236e57599f7be4c82f8dd508b0630
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_35.obj
@@ -0,0 +1,115 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_36.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca2d67108022f77a291a16ed735c9fea1ea09f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_36.obj
@@ -0,0 +1,1012 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_37.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce06a68209e2e705ad8342654fc5522d44453759
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_37.obj
@@ -0,0 +1,88 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_38.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3613611db27da9411367eca73b97033dded7c0b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_38.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_39.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcce1f3041fedf20a9a1bec537bf0044d2dfcd49
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_39.obj
@@ -0,0 +1,334 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_4.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7a19f72a80548b8eb45fe7ea7e2928c88fe1d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_4.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00993514 -0.00793458 -0.01639476
+v 0.00993514 -0.00794742 -0.01540763
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_40.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd8cbb06267e663af7b977292d0c0c5b9df0388
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_40.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_41.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a621ab22abf7a681f56ca161819d84c6a72e12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_41.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_42.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4150543e877c7377f178b7ef60e7dd906b6e5ed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_42.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_43.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7ad70c1a7e0d1309db2aaefebc2d877d1e781d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_43.obj
@@ -0,0 +1,1075 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_44.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..952d394a7e0318547dcf9f123be1345829dc8cb3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_44.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_45.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06c688fa1bfc2733c29fda602fec2e7015f350ec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_45.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_46.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cbd0923810925cae5cb559ad59510d586e23f4c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_46.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_47.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0f3c6fa460798d9b5dab206ffd28594cacc5dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_47.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02016081 -0.00009269 -0.00392523
+v 0.02015914 0.00052709 -0.00392523
+v 0.02016081 -0.00045777 -0.00392523
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_48.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e7b40be604cd415cd8bc1ac7aab86ae92d60b2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_48.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_49.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6701d9d2bf503a1213b421947ec6a0195fa81684
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_49.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_5.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c62d0d60504f5e18066eabe423a701a86bb723a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_5.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.01705428 -0.01076149 -0.00377028
+v -0.01325293 -0.01076149 -0.00377028
+v -0.01708673 -0.01076149 -0.00355797
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+v -0.01712950 0.00053107 -0.00377024
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+v -0.01736990 -0.01030825 -0.00355797
+v -0.01774819 -0.01076154 0.00982571
+v -0.01733671 -0.01030825 -0.00377028
+v -0.01430153 -0.01076154 0.00987111
+v -0.02018680 0.00053107 -0.00377024
+v -0.02078337 0.00053102 0.00987115
+v -0.01748124 -0.01021096 -0.00247905
+v -0.01772090 -0.00978977 -0.00274878
+v -0.01770173 -0.00975329 -0.00355797
+v -0.01775040 -0.01076154 0.00987111
+v -0.01759702 -0.00987268 -0.00377028
+v -0.02018680 0.00031550 -0.00377024
+v -0.02021630 0.00052664 -0.00355793
+v -0.02021630 0.00053107 -0.00355258
+v -0.02025981 0.00053107 -0.00256981
+v -0.02069488 0.00020380 0.00771064
+v -0.02078558 -0.00045839 0.00987115
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+v -0.01798195 -0.01035583 0.00987111
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+v -0.01830420 -0.00976771 0.00987111
+v -0.01850477 -0.00940069 0.00987112
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+v -0.01774155 -0.00961842 -0.00377028
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+v -0.01891698 -0.00855831 0.00987112
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+v -0.02007546 -0.00242833 -0.00355794
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+v -0.02069341 -0.00195744 0.00972025
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+v -0.01887421 -0.00725046 -0.00355796
+v -0.01901580 -0.00833831 0.00987112
+v -0.01925840 -0.00775351 0.00987112
+v -0.01942432 -0.00735332 0.00987112
+v -0.01870535 -0.00759869 -0.00377027
+v -0.01866258 -0.00770482 -0.00377027
+v -0.02004670 -0.00242833 -0.00377025
+v -0.01987488 -0.00362336 -0.00377025
+v -0.01993240 -0.00341332 -0.00355794
+v -0.01997443 -0.00341332 -0.00256982
+v -0.02057542 -0.00290263 0.00987114
+v -0.02063810 -0.00246154 0.00987114
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+v -0.01966029 -0.00672099 0.00987113
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+v -0.01977680 -0.00422917 -0.00355795
+v -0.02050020 -0.00341337 0.00987114
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+v -0.02006587 -0.00538334 0.00987113
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_50.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e86dc4309dde56d77fb52f0e8ec0f716436e8a0e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_50.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00959103 -0.01497700 -0.02158598
+v 0.01034025 -0.01487126 -0.02158597
+v 0.00959103 -0.01294439 -0.01859182
+v 0.00959103 -0.00866470 -0.02158595
+v 0.01110145 -0.01442332 -0.02158597
+v 0.00967399 -0.01289592 -0.01859182
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+v 0.01267344 -0.01005847 -0.01859181
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_51.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85a82a5f4a6366d438bdc56fdc2a871e47c60f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_51.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00498210 -0.01725342 -0.02158598
+v 0.00739869 -0.01671350 -0.02158598
+v 0.00637648 -0.01493633 -0.01859182
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+v 0.00958973 -0.00851210 -0.01859180
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+f 6 12 7
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+f 10 13 14
+f 10 14 11
+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_52.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..718e391ff4293de6ddfbf4307ed9562cfd4520ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_52.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.01524408 0.00794209 -0.00363367
+v 0.01075681 0.01331941 -0.00363365
+v 0.01860354 0.00794209 -0.00363367
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_53.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b54ee084a5ff185332cf5eed74863aeed747f487
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_53.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_54.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92012e41938db82b4b25a2f0565397c707dbb18c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_54.obj
@@ -0,0 +1,364 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_55.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e287e0813db3c98d708954296cf6da3454f1f1d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_55.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_56.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6df833da52b4e4834431bc7b5158995b3b57a02
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_56.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_57.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c49b75bb802e0349f59a9774b5311eef9b63d50b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_57.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_58.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8fac16388cb69972a8b5a5a00e156053797e7f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_58.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_59.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12db72936306d6e917c72056bac76a557878e85a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_59.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_6.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2605436ed245f610155c45c52b8ce92cc871ff5a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_6.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_60.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e3c834e116cd568a0ec1445aa830e969c815c15
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_60.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.01526906 0.00961234 -0.02159289
+v 0.01590764 0.00903762 -0.02159290
+v 0.00852490 0.00961234 -0.02159289
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_61.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04eda3aa8281c0895bd6ff951cf8779a06908ae6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_61.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_62.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506389a1746dc52e98aac45ed5598b554e8bf75c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_62.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_63.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a4166b2de07057d4816d19270671decdbd28f8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_63.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00000044 -0.02005215 -0.00363114
+v -0.00000044 -0.01700263 -0.00363113
+v -0.00049688 -0.02005134 -0.00363114
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_64.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd417dfe3178c01e0c96fa9b9d331763c9c89341
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_64.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_65.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5fa099203acf4f6e51745fc4d917d3699f8794e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_65.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_66.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791a307a26478102bc06bd31541cd7f5053ac6aa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_66.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_67.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ebce8d89c85a73ff97f5aafe14b4a5916c7c02d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_67.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_68.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f7c03c5b526ae2e10e88877ecb4c47efae0805
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_68.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_69.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bef79a7d6ed84868108ba6dae0da6be6847f4df
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_69.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_7.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28a8966e050f83de08dc128d0f7ed721f1956aa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_7.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_70.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50617af2f351f4c624878a23affea62a1549ec45
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_70.obj
@@ -0,0 +1,313 @@
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+f 92 102 103
+f 92 103 94
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+f 97 104 105
+f 97 105 98
+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_71.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1297ca81ead52c2d6d3a94c2e69327ae0b88500
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_71.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.01753783 0.00541502 -0.02159291
+v 0.01514753 0.00533483 -0.01859204
+v 0.01564799 0.00465913 -0.01859204
+v 0.01758338 0.00531374 -0.02159291
+v 0.01205684 0.00541502 -0.02159291
+v 0.01507604 0.00541501 -0.01859204
+v 0.01571126 0.00450986 -0.01859204
+v 0.01769916 0.00499304 -0.02159291
+v 0.01205748 0.00487066 -0.02159291
+v 0.01185628 0.00541501 -0.01859204
+v 0.01578971 0.00426563 -0.01859204
+v 0.01831983 0.00151273 -0.02159292
+v 0.01291161 0.00062552 -0.02159293
+v 0.01307737 0.00002682 -0.01859206
+v 0.01625347 0.00151272 -0.01859205
+v 0.01801867 0.00002683 -0.02159293
+v 0.01600039 0.00002682 -0.01859206
+v 0.01306725 0.00002683 -0.02159293
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 18
+f 1 18 13
+f 1 13 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 17
+f 2 17 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 12 15 17
+f 12 17 16
+f 13 18 14
+f 14 18 16
+f 14 16 17
+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_72.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dffa7c6728e5f8e08992dbfe329f2fb874028f74
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_72.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00005242 0.01277885 -0.01859201
+v -0.00005242 0.01294023 -0.02159288
+v 0.00499835 0.01206745 -0.02159289
+v 0.00516063 0.01200585 -0.01859202
+v -0.00005242 0.01616957 -0.01859200
+v -0.00005242 0.01829517 -0.02159286
+v 0.00516063 0.01206068 -0.02159289
+v 0.00516063 0.01509292 -0.01859200
+v 0.00056049 0.01617696 -0.01859200
+v 0.00048905 0.01829764 -0.02159286
+v 0.00516063 0.01720127 -0.02159287
+v 0.00484831 0.01741747 -0.02159287
+v 0.00467990 0.01753018 -0.02159287
+v 0.00449261 0.01763304 -0.02159287
+v 0.00430327 0.01772790 -0.02159286
+v 0.00382713 0.01575813 -0.01859200
+v 0.00336273 0.01593428 -0.01859200
+v 0.00344387 0.01801184 -0.02159286
+v 0.00407617 0.01783445 -0.02159286
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 18
+f 2 18 19
+f 2 19 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 11
+f 4 11 8
+f 5 9 6
+f 6 9 10
+f 8 11 12
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 9 17 10
+f 10 17 18
+f 15 19 16
+f 16 19 17
+f 17 19 18
+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_73.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..749d6eb1ba5ba212b885b1f13455c3fc218ae361
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_73.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01188248 0.00538814 -0.01859175
+v -0.01188248 0.01074095 -0.01859173
+v -0.01188248 0.00709389 -0.02159339
+v -0.01125892 0.00707195 -0.02159339
+v -0.01112799 0.00710313 -0.02159339
+v -0.00554630 0.01169719 -0.02159338
+v -0.00512772 0.01205289 -0.02159338
+v -0.00512772 0.01200900 -0.01859173
+v -0.01188248 0.01075481 -0.01860436
+v -0.00999062 0.01260837 -0.01859172
+v -0.01188248 0.01330939 -0.02159337
+v -0.00512772 0.01718512 -0.02159336
+v -0.00512772 0.01508210 -0.01859171
+v -0.01188248 0.01091418 -0.01875039
+v -0.00961569 0.01296176 -0.01859172
+v -0.01130388 0.01427947 -0.02159337
+v -0.01133099 0.01424598 -0.02159337
+v -0.00729269 0.01680979 -0.02159336
+v -0.00636428 0.01496315 -0.01859172
+v -0.00652364 0.01488461 -0.01859172
+v -0.00771986 0.01659498 -0.02159336
+v -0.01035696 0.01491927 -0.02159337
+v -0.01126883 0.01431181 -0.02159337
+f 1 2 9
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+f 1 14 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 13
+f 1 13 19
+f 1 19 20
+f 1 20 15
+f 1 15 10
+f 1 10 2
+f 2 10 9
+f 3 11 17
+f 3 17 16
+f 3 16 23
+f 3 23 22
+f 3 22 21
+f 3 21 18
+f 3 18 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
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+f 7 13 8
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+f 10 15 16
+f 10 16 14
+f 11 14 17
+f 12 18 19
+f 12 19 13
+f 14 16 17
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 18 21 20
+f 18 20 19
+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_74.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a20c13f2c26909d2a96e3b9516a5cd7c672125d6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_74.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00512772 0.01200937 -0.01859173
+v -0.00512772 0.01205307 -0.02159338
+v -0.00005293 0.01277921 -0.01859172
+v -0.00512772 0.01508257 -0.01859171
+v -0.00005293 0.01293983 -0.02159337
+v -0.00512772 0.01718594 -0.02159336
+v -0.00005293 0.01616994 -0.01859171
+v -0.00355899 0.01584749 -0.01859171
+v -0.00429418 0.01770778 -0.02159335
+v -0.00465879 0.01750717 -0.02159336
+v -0.00005293 0.01829547 -0.02159335
+v -0.00037433 0.01829486 -0.02159335
+v -0.00049653 0.01829424 -0.02159335
+v -0.00055564 0.01616441 -0.01859171
+v -0.00337370 0.01592010 -0.01859171
+v -0.00345169 0.01798286 -0.02159335
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 9
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+f 2 16 13
+f 2 13 12
+f 2 12 11
+f 2 11 5
+f 3 5 11
+f 3 11 7
+f 4 8 9
+f 4 9 10
+f 4 10 6
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 13 16 15
+f 13 15 14
+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_75.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88cd61f162639f71115d95d4c2a5675cb344c7d5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_75.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00005293 -0.01822958 -0.02158599
+v 0.00048867 -0.01824117 -0.02158599
+v 0.00028416 -0.01613353 -0.01859183
+v -0.00005293 -0.01612377 -0.01859183
+v -0.00005293 -0.01291529 -0.02158597
+v 0.00344358 -0.01794095 -0.02158599
+v 0.00337311 -0.01586443 -0.01859183
+v 0.00049311 -0.01613597 -0.01859183
+v -0.00005293 -0.01272370 -0.01859182
+v 0.00498165 -0.01206222 -0.02158596
+v 0.00430699 -0.01765843 -0.02158598
+v 0.00356974 -0.01578327 -0.01859183
+v 0.00498165 -0.01200792 -0.01859181
+v 0.00498165 -0.01725325 -0.02158598
+v 0.00467906 -0.01745828 -0.02158598
+v 0.00498165 -0.01507482 -0.01859183
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
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+f 1 14 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
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+f 3 7 12
+f 3 12 16
+f 3 16 13
+f 3 13 9
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+f 6 11 7
+f 7 11 12
+f 9 13 10
+f 10 13 16
+f 10 16 14
+f 11 15 16
+f 11 16 12
+f 14 16 15
+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_8.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc80ac68b4465636a6fa491edef79d01a89cb6a6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_8.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00971861 -0.00807694 -0.01640174
+v -0.00985433 -0.00807694 -0.01738995
+v -0.00973082 -0.00807694 -0.01576995
+v 0.00000593 -0.01245754 -0.01541462
+v 0.00000593 -0.01245597 -0.01591812
+v 0.00000593 -0.01245597 -0.01640176
+v -0.01007420 -0.00807693 -0.01837924
+v 0.00000593 -0.01249379 -0.01690580
+v 0.00000593 -0.01253082 -0.01738997
+v -0.00973897 -0.00807694 -0.01541460
+v 0.00000593 -0.01252689 -0.01442641
+v -0.00984755 -0.00807695 -0.01465828
+v -0.00988148 -0.00807695 -0.01442639
+v -0.01013392 -0.00807693 -0.01859180
+v 0.00000593 -0.01272305 -0.01859182
+v 0.00000593 -0.01269943 -0.01310809
+v -0.01013121 -0.00807695 -0.01310807
+v -0.01385951 -0.00807693 -0.01859180
+v 0.00000593 -0.01612589 -0.01859183
+v 0.00000593 -0.01589979 -0.01310810
+v -0.01359621 -0.00807695 -0.01310807
+v -0.01283616 -0.00978663 -0.01859181
+v -0.00049896 -0.01589664 -0.01310810
+v -0.00056547 -0.01610856 -0.01859183
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+v -0.00306955 -0.01575482 -0.01310810
+v -0.00337357 -0.01587456 -0.01859183
+v -0.01243849 -0.01030190 -0.01859181
+v -0.01237470 -0.01037360 -0.01859181
+v -0.00985162 -0.01277268 -0.01859182
+v -0.00969825 -0.01264034 -0.01310809
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+v -0.00653455 -0.01458010 -0.01310809
+v -0.00647484 -0.01487395 -0.01859182
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+f 14 28 34
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+f 14 38 35
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+f 14 26 22
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+f 16 36 37
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+f 16 33 27
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+f 16 23 20
+f 18 22 21
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+f 21 22 25
+f 22 26 25
+f 23 27 24
+f 24 27 28
+f 25 26 29
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 27 33 28
+f 28 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 38
+f 33 38 34
+f 35 38 37
+f 35 37 36
+
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_9.obj b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c320a872c3904b73e19c38e7f5141da4de241f29
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mesh/mouthwash_cup_027_collision_9.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
+v -0.00758592 0.02295338 0.03101995
+v -0.00758592 0.02294144 0.03120576
+v -0.00758592 0.02278717 0.03020002
+v -0.00801464 0.02274034 0.03041140
+v -0.00810599 0.02277524 0.03101995
+v -0.00804996 0.02275502 0.03165484
+v -0.00758592 0.02283308 0.03180454
+v -0.00758592 0.02256771 0.02977200
+v -0.00835689 0.02242354 0.03006161
+v -0.00974537 0.02165220 0.02961553
+v -0.00939459 0.02197910 0.02997961
+v -0.01009492 0.02182208 0.03027449
+v -0.00936293 0.02227478 0.03101995
+v -0.00859804 0.02258791 0.03101995
+v -0.01011928 0.02183217 0.03176392
+v -0.00938607 0.02199011 0.03205879
+v -0.00837759 0.02242812 0.03199335
+v -0.00758592 0.02256127 0.03228898
+v -0.00758592 0.02009210 0.02531123
+v -0.00954562 0.01921700 0.02531123
+v -0.01014364 0.01890846 0.02531123
+v -0.01170872 0.02065038 0.02963659
+v -0.01136160 0.02102228 0.02999240
+v -0.01039332 0.02151446 0.02997961
+v -0.00817298 0.01986070 0.02531123
+v -0.00855785 0.01969449 0.02531123
+v -0.00866625 0.01964674 0.02531123
+v -0.00880753 0.01957879 0.02531123
+v -0.00936293 0.01931066 0.02531123
+v -0.01201200 0.02083220 0.03029555
+v -0.01072461 0.02165037 0.03101995
+v -0.01023255 0.02188728 0.03101995
+v -0.00973075 0.02164025 0.03242212
+v -0.01203757 0.02084688 0.03175940
+v -0.01136039 0.02103696 0.03205654
+v -0.00907427 0.02178993 0.03256881
+v -0.00758592 0.02246118 0.03241686
+v -0.00758592 0.01690022 0.02531122
+v -0.01063692 0.01863757 0.02531123
+v -0.01193648 0.01784236 0.02531123
+v -0.01289989 0.01979456 0.02948839
+v -0.01325797 0.01993138 0.03009846
+v -0.01233110 0.02046397 0.02999240
+v -0.01133359 0.01821976 0.02531123
+v -0.01212405 0.02089831 0.03101995
+v -0.01133359 0.02133448 0.03101995
+v -0.01382920 0.01976242 0.03047232
+v -0.01261611 0.02060263 0.03101995
+v -0.01170751 0.02064853 0.03241836
+v -0.01105102 0.02082576 0.03257783
+v -0.01384747 0.01977527 0.03159164
+v -0.01325797 0.01994698 0.03195573
+v -0.01234694 0.02047131 0.03205654
+v -0.00837759 0.02191665 0.03264704
+v -0.01034826 0.02099564 0.03266810
+v -0.00938607 0.02127295 0.03273430
+v -0.00758592 0.02206541 0.03270271
+v -0.00758592 0.01650261 0.02709402
+v -0.01269649 0.01357337 0.02531121
+v -0.01242976 0.01750168 0.02531122
+v -0.01355638 0.01956040 0.02981336
+v -0.01467203 0.01866694 0.02964937
+v -0.01491806 0.01886161 0.03030833
+v -0.01500332 0.01892864 0.03101994
+v -0.01435292 0.01942175 0.03101994
+v -0.01386087 0.01978446 0.03101994
+v -0.01330304 0.02015727 0.03101994
+v -0.01289989 0.01979363 0.03254548
+v -0.01231771 0.01997086 0.03263575
+v -0.01136039 0.02028398 0.03273278
+v -0.01493998 0.01887904 0.03174284
+v -0.01425792 0.01921880 0.03199635
+v -0.01355638 0.01955948 0.03225060
+v -0.00837759 0.02121510 0.03291258
+v -0.01034826 0.02022981 0.03293213
+v -0.00758592 0.02192767 0.03275461
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mouthwash_cup_027.xml b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mouthwash_cup_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bcc64063982954ec8a9239bea8b709a2a7fa5c6a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mjcf/mouthwash_cup_027.xml
@@ -0,0 +1,166 @@
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+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_027">
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mouthwash_cup_027.urdf b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mouthwash_cup_027.urdf
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+++ b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mouthwash_cup_027.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_027">
+   <link name="mouthwash_cup_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_027.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_027_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>3c9ef8fa19345573ae45c65a8fd83f37</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>blue mouthwash cup</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>blue plastic cup with flared rim and ribbed lower body</description>
+         <min_height>0.0600</min_height>
+         <max_height>0.0600</max_height>
+         <real_height>0.0600</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611122647</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024037 -0.024031 -0.027102</min>
+            <max>0.024029 0.024102 0.032898</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mouthwash_cup_027.usd b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/mouthwash_cup_027.usd
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diff --git a/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/textures/material_0.png b/dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/textures/material_0.png
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