diff --git a/.gitattributes b/.gitattributes
index e7b0dbee4accd3f23577b5ca099f83468184957a..abeba95ba4dddf752633f4a5823f96909c935ae9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2535,3 +2535,5 @@ dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/mesh/to
 dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/toothbrush_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/788c6784576053d2a06c54ed3402318c/mesh/mouthwash_cup_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/788c6784576053d2a06c54ed3402318c/mouthwash_cup_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/dental_floss_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/dental_floss_015.urdf b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/dental_floss_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..830e3681922bb8a6b6aa4c1fc97f9e0e878a5118
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/dental_floss_015.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="dental_floss_015">
+   <link name="dental_floss_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/dental_floss_015.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/dental_floss_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.55</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0650" />
+         <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>7c890865c8055fd98d3d6be284a4c26c</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>dental_floss</category>
+         <name>pink floss case</name>
+         <color>pink,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>pink cartoon dental floss dispenser case with hinged lid and side pick</description>
+         <min_height>0.0705</min_height>
+         <max_height>0.0705</max_height>
+         <real_height>0.0705</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518153138</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.027694 -0.037611 -0.021700</min>
+            <max>0.027965 0.027389 0.048780</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/dental_floss_015.usd b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/dental_floss_015.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0abe98aba518fb90773685b9e87ff64f3cc78bae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/dental_floss_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f30c2cb3508d896d249bb6233a29023657196f3b6f052ecf2c647d033c90b798
+size 4996307
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015.glb b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1bd85b9d0dc51effa3cec2ea8f7fdd38d8526ca4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dee4c3dce817d756943fa8e1256f9cc887ee1d0d164e4379adf22b34ebe62c8
+size 14577888
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015.mtl b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c715c8e47450fa9e6398a419a39f2eb69425fdc3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015.mtl
@@ -0,0 +1,6 @@
+newmtl dental_floss_015_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ace57ca328238f21d9135b554e93bf115341030
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015.obj
@@ -0,0 +1,110478 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_015_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015_collision.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..938762184ddf8edc7c5408df64ece314a49d25fb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015_collision.obj
@@ -0,0 +1,37662 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac032eb551fda5398fe11affb3c7042c7f88b865
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/dental_floss_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff9dfc362d7a6bd40d23a11acfaabc0f7b73c68d1bb11fd7e626c20c4107895d
+size 11096021
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ca8e022f39b40c49168b9fe996c2e617fcd3ce8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl dental_floss_015_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd dental_floss_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac032eb551fda5398fe11affb3c7042c7f88b865
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff9dfc362d7a6bd40d23a11acfaabc0f7b73c68d1bb11fd7e626c20c4107895d
+size 11096021
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/dental_floss_015.xml b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/dental_floss_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f7dd6e762df8ee5e3488af5f2303a6c694d4217e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/dental_floss_015.xml
@@ -0,0 +1,136 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="dental_floss_015">
+  <asset>
+    <material name="material_0" texture="texture_0_dental_floss_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_dental_floss_015_geometry_Looks_material_0" type="2d" file="mesh/dental_floss_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/dental_floss_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/dental_floss_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_2" file="mesh/dental_floss_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/dental_floss_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/dental_floss_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/dental_floss_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/dental_floss_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/dental_floss_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/dental_floss_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/dental_floss_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/dental_floss_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/dental_floss_015_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/dental_floss_015_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/dental_floss_015_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/dental_floss_015_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/dental_floss_015_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/dental_floss_015_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/dental_floss_015_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/dental_floss_015_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/dental_floss_015_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/dental_floss_015_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/dental_floss_015_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/dental_floss_015_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/dental_floss_015_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/dental_floss_015_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/dental_floss_015_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/dental_floss_015_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/dental_floss_015_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/dental_floss_015_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/dental_floss_015_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/dental_floss_015_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/dental_floss_015_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/dental_floss_015_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/dental_floss_015_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/dental_floss_015_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/dental_floss_015_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/dental_floss_015_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/dental_floss_015_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/dental_floss_015_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/dental_floss_015_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/dental_floss_015_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/dental_floss_015_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/dental_floss_015_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/dental_floss_015_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/dental_floss_015_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/dental_floss_015_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/dental_floss_015_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/dental_floss_015_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/dental_floss_015_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/dental_floss_015_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/dental_floss_015_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/dental_floss_015_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/dental_floss_015_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/dental_floss_015_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/dental_floss_015_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/dental_floss_015_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/dental_floss_015_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/dental_floss_015_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/dental_floss_015_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/dental_floss_015_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/dental_floss_015_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="dental_floss_015">
+      <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" />
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+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" 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/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21cb16f3cf0ecdee45bce9dd0b017dfc5223326b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015.obj
@@ -0,0 +1,110478 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_015_geometry_Looks_material_0
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+v 0.003468 0.027152 0.001203
+v 0.004016 0.026824 0.003176
+v 0.004016 0.026824 0.003176
+v 0.004412 0.026999 0.001911
+v 0.004412 0.026999 0.001911
+v 0.006572 0.008821 0.003895
+v 0.006572 0.008821 0.003895
+v 0.008146 0.008631 0.003970
+v 0.008146 0.008631 0.003970
+v 0.007758 0.009036 0.003877
+v 0.007758 0.009036 0.003877
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+v 0.025068 0.021358 -0.007182
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+v 0.026785 0.020877 -0.003961
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+v 0.026658 0.019774 -0.005932
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de1d65ff61f5f472b536218eb0012697e2d2653a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision.obj
@@ -0,0 +1,37662 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_0.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bf270ade3929660306032b583046b85f3cee5fd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_1.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e362170f33e9aba5ea334357827845df2982e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_1.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_10.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14817980dfeee646b1bcf9d27653ecc838bc46b0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_10.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_11.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad60b2398561d85fac322127415cdbd17e943332
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_11.obj
@@ -0,0 +1,1765 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_12.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9c24d9574d99b1783419832c3925c0314e6f234
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_12.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_13.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc6e67b681ead39a8d65062a8dc8406f7e0d3c73
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_13.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_14.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..206120051cceefaaac6a18f9003c113cad091f03
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_14.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_15.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa686f1b7f0d87f7d735f427cad260953d9a8f2e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_15.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_16.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f914ade7b417fe2640f2b194d8851d9174b1f0a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_16.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.02300474 -0.00241809 0.01539952
+v -0.02293049 -0.00241809 0.01534922
+v -0.02300218 -0.00245700 0.01539952
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_17.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00af9bd75096d1b5d5a192f73fe8835535baa3e9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_17.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_18.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8f7083f18b2d078ae2bbd2b97bd45f9b09b954
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_18.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_19.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ca9a0d67fb3489188920c69987b7d27a7b4254
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_19.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_2.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e505eb6aa80b9adbb013dcd5b142fd5c579c8c3a
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_20.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26dac467904d09881d5a5c1131623d70f7096208
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_20.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_21.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcdd554c0d18589b37b8d197216091c8e49a5ddb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_21.obj
@@ -0,0 +1,748 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_22.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5da8a101b191b2b59c29a087e4b6d487c0178e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_22.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_23.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e73a56e54180a8949691940d260b77fa97beed2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_23.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_24.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..576fec9ae07513376f94ddd68dfeeb382e28c28f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_24.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_25.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd3f3023e9d751e5dd57c4def3e4f9bc3205643a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_25.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_26.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..220a96f12e9978251caff1b8babe8a13c8888a28
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_26.obj
@@ -0,0 +1,583 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_27.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be818c8142f3bcdb7c83c5db47e3115a0dcb138
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_27.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_28.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f237e60468c30592640024044e0e33ee9280cd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_28.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_29.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687f7a116fd2637e45fd59b63e6b89e5c81f3a97
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_29.obj
@@ -0,0 +1,2407 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_3.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b4c9e8013e6e43bfb5d2aed05c58d86802ea3ad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_30.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..613b76d2b779820375722257b847b444a5326094
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_30.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_31.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6fb18607c042f85688ac55fc006037f47326546
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_31.obj
@@ -0,0 +1,1240 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_32.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997925748b17c127141492f8514144a6d3fe65b4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_32.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_33.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15aa9ca5b7436ee66b2ac89752bd38d7790fa7f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_33.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_34.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..017d1ba2dbe7c4978d2180af7c9d1a96382320a6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_34.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_35.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c559561909a3ce695953c8e6657c0183edcafce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_35.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_36.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003b7b1fd9278c172b792f915a967e65c1b392ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_36.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_37.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce8a4483752f30df57a494ece1f5fd970c004dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_37.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_38.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0099e4da0d5a0348f7d8f70bd6d9c3b2eec319b4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_38.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_39.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06553eaf6ceceb4ea1c399b8c8b1ed0ab294b898
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_39.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_4.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33467e85143c4f15083fc6dbc413c3dc7c846525
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_4.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_40.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af5abe8f1275e79ad170396f0b6b3f8eec95a816
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_40.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_41.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81cc16ff608af06180da2486e1d70ece3173a04f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_41.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_42.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b7aebf1b935edb69a0a8fe0fb0fcf0fd0c7003
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_42.obj
@@ -0,0 +1,304 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_43.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..397a10496af80b22045ebe5cd6ae7712105457b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_43.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00149774 0.01494786 0.00728561
+v 0.00089557 0.01494785 0.01049321
+v 0.00149774 0.00986602 0.00552274
+v 0.00149774 0.01494796 -0.02028720
+v 0.00085887 0.01494785 0.01060587
+v 0.00025519 0.00986600 0.01121889
+v 0.00045816 0.00986600 0.01049320
+v 0.00149774 0.00986612 -0.02059870
+v 0.00149774 0.01466987 -0.02031371
+v -0.00205615 0.01385350 -0.02154639
+v -0.00265384 0.01417637 -0.02168556
+v -0.00219996 0.01462610 -0.02146686
+v -0.00264934 0.01494797 -0.02151988
+v 0.00055029 0.01494785 0.01128186
+v -0.00044510 0.00986600 0.01159002
+v -0.00299312 0.00986612 -0.02158947
+v -0.00270327 0.01058101 -0.02165575
+v -0.00275720 0.01176404 -0.02181149
+v -0.00275720 0.01292270 -0.02183136
+v -0.00197077 0.01292270 -0.02159278
+v 0.00149774 0.01097552 -0.02054899
+v 0.00149774 0.01408183 -0.02036010
+v -0.00391362 0.01408184 -0.02192414
+v -0.00356609 0.01494797 -0.02174520
+v -0.00294744 0.01494797 -0.02159941
+v 0.00032634 0.01494785 0.01139784
+v -0.00044510 0.01494785 0.01168944
+v -0.00160152 0.00986600 0.01182197
+v -0.00388141 0.00986612 -0.02175847
+v -0.00391362 0.01060489 -0.02189102
+v -0.00391362 0.01176404 -0.02193741
+v -0.00391362 0.01292270 -0.02194402
+v 0.00149774 0.01292270 -0.02043963
+v 0.00149774 0.01213417 -0.02048603
+v -0.00506929 0.01408184 -0.02195065
+v -0.00477719 0.01494797 -0.02192414
+v -0.00391362 0.01494797 -0.02180485
+v -0.00073795 0.01494785 0.01174577
+v -0.00160152 0.01494785 0.01182198
+v -0.00615306 0.01494785 0.01189488
+v -0.00615306 0.00986600 0.01182197
+v -0.00506929 0.00986612 -0.02187776
+v -0.00506929 0.01060489 -0.02193078
+v -0.00615306 0.01400871 -0.02195396
+v -0.00615306 0.01408184 -0.02195396
+v -0.00506929 0.01494797 -0.02193077
+v -0.00615306 0.01494797 -0.02191089
+v -0.00615306 0.00986612 -0.02189764
+v -0.00615306 0.01060489 -0.02193078
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+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_44.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4c39296cf3d5616a1c51b7851ca85cc0b97d1e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_44.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00186786 -0.01680033 -0.01989099
+v 0.00302449 -0.01680033 -0.01988450
+v 0.00145526 -0.01680033 -0.01988775
+v 0.00584349 -0.01257804 -0.02086636
+v 0.00418008 -0.01680033 -0.01986506
+v 0.00071175 -0.01680033 -0.01987802
+v 0.00052808 -0.01680033 -0.01987478
+v 0.00052808 -0.01605485 -0.02002385
+v 0.00052808 -0.01587094 -0.02005301
+v 0.00584349 -0.01141910 -0.02103810
+v 0.00584349 -0.01680033 -0.01979377
+v 0.00566243 -0.01680033 -0.01980673
+v 0.00533620 -0.01680033 -0.01982618
+v 0.00052808 -0.01680044 0.01195648
+v 0.00052808 -0.01489521 -0.02019234
+v 0.00052808 -0.01239412 -0.02044834
+v 0.00052808 -0.01141910 -0.02051314
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+v 0.00052808 -0.01336845 -0.02036409
+v 0.00584349 -0.01680044 0.01205370
+v 0.00052808 -0.01373639 0.01182039
+v 0.00584349 -0.00962981 -0.02099597
+v 0.00584349 -0.00971896 -0.02100569
+v 0.00584349 -0.01025947 -0.02104134
+v 0.00052808 -0.00962992 0.00792534
+v 0.00584349 -0.01373639 0.01181715
+v 0.00052808 -0.01257816 0.01175234
+v 0.00584349 -0.00962990 0.00368355
+v 0.00052808 -0.00998722 0.00932847
+v 0.00584349 -0.01258026 0.01141533
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+v 0.00052808 -0.01029960 0.01049180
+v 0.00584349 -0.01205028 0.01072188
+v 0.00584349 -0.01229246 0.01107508
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+f 38 40 39
+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_45.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d97b087fb528a02e7a588382df31fd17d626a64
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_45.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01963524 -0.01347146 0.01539948
+v -0.01963524 -0.00910799 0.01539950
+v -0.01959525 -0.01352639 0.01539948
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+v -0.01158579 -0.00910799 0.01625290
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+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_46.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b03bf98f2c954ee9844d9624d6368bedf8d535ab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_46.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00994314 -0.00313032 0.00701057
+v 0.00994627 -0.00314349 0.00701057
+v 0.01083068 -0.00313033 0.01041468
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+v 0.01343225 -0.00793668 0.01160788
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+v 0.02506107 -0.00446411 0.00933141
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+v 0.01041117 -0.00401011 0.00701057
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+v 0.01227548 -0.00313033 0.01165671
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+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_47.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0789eaf0670b4e0363bc97f847303e7b58fb4f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_47.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01113917 0.01850656 0.01320392
+v -0.01250115 0.01636214 0.01539959
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+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_48.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..467c62dcb35ef51da9310d80d58df1838477dc92
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_48.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_49.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f5bfffe46a3b4ce2b2befb5c9f23f39a344802
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_49.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_5.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7068c624a16c4b4e89141b5a2a5bac7391e2419e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_50.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126acdcb40f244607581c28cefaa38b87325ea4a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_50.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_51.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..090f5a263106d86ce4c582c739573f4e653a06fe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_51.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_52.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea0d626e4be11c2502d7df63ea4c4e6241d83199
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_52.obj
@@ -0,0 +1,313 @@
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+f 92 100 94
+f 93 95 96
+f 100 102 101
+f 102 105 103
+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_53.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ced9e2399e87d2c5f2f9067190dec20f1f184b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_53.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01192801 0.00744803 0.00622260
+v 0.01258688 0.00744801 0.01035177
+v 0.01369175 0.01060287 0.01049462
+v 0.01329427 0.01060289 0.00622261
+v 0.02569165 0.00744803 0.00622260
+v 0.01283211 0.00744801 0.01082111
+v 0.01388442 0.01060287 0.01122481
+v 0.02485087 0.01060289 0.00622261
+v 0.02560811 0.00788840 0.00622260
+v 0.02557712 0.00773461 0.00644441
+v 0.02560542 0.00744803 0.00652781
+v 0.01342496 0.00744801 0.01144572
+v 0.01669779 0.01060286 0.01492456
+v 0.02460430 0.01060288 0.00703443
+v 0.02521063 0.00941518 0.00622260
+v 0.02546798 0.00847453 0.00622260
+v 0.02490073 0.00828676 0.00816918
+v 0.02509206 0.00744802 0.00816918
+v 0.01722192 0.00744800 0.01486156
+v 0.01681366 0.01060285 0.01498578
+v 0.02424859 0.01060288 0.00818694
+v 0.02435908 0.00984937 0.00856224
+v 0.02447899 0.00907640 0.00889316
+v 0.02458544 0.00828676 0.00912828
+v 0.02467706 0.00744802 0.00936517
+v 0.01805596 0.00744799 0.01525904
+v 0.01805596 0.00828673 0.01528388
+v 0.01805596 0.00944541 0.01528654
+v 0.01805596 0.01060285 0.01520582
+v 0.02376353 0.01060288 0.00933147
+v 0.02417044 0.00945594 0.00930129
+v 0.02432000 0.00828675 0.00970942
+v 0.02440219 0.00765183 0.00988686
+v 0.02454097 0.00744801 0.00967659
+v 0.01924032 0.00744799 0.01500707
+v 0.01913523 0.00944542 0.01490947
+v 0.01898971 0.01060286 0.01480745
+v 0.02337278 0.01060287 0.01013618
+v 0.02355468 0.00946735 0.01055140
+v 0.02393195 0.00828675 0.01049461
+v 0.02415023 0.00744801 0.01047421
+v 0.02431461 0.00744801 0.01015480
+v 0.02154841 0.00744800 0.01385988
+v 0.02161174 0.00831855 0.01373212
+v 0.02134900 0.00944542 0.01369130
+v 0.02036809 0.01060286 0.01400717
+v 0.02307097 0.01060287 0.01071821
+v 0.02320571 0.00986820 0.01097550
+v 0.02333371 0.00909554 0.01120883
+v 0.02344824 0.00828675 0.01141822
+v 0.02352639 0.00744801 0.01164979
+v 0.02177477 0.00744800 0.01373478
+v 0.02216956 0.00795353 0.01346417
+v 0.02205638 0.00872650 0.01334972
+v 0.02112668 0.01060286 0.01355202
+v 0.02249698 0.01060287 0.01172344
+v 0.02296991 0.00946735 0.01162051
+v 0.02311947 0.00828675 0.01199936
+v 0.02322187 0.00753880 0.01217325
+v 0.02329733 0.00744801 0.01207300
+v 0.02220459 0.00744800 0.01349079
+v 0.02277454 0.00744800 0.01278455
+v 0.02314103 0.00744800 0.01230368
+v 0.02249428 0.00831855 0.01290522
+v 0.02235954 0.00944542 0.01260622
+v 0.02192703 0.00944542 0.01318736
+v 0.02176265 0.01060286 0.01281029
+v 0.02244039 0.01060287 0.01181748
+v 0.02220729 0.01029528 0.01239152
+v 0.02181654 0.01060286 0.01274020
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 16
+f 1 16 9
+f 1 9 5
+f 1 5 11
+f 1 11 18
+f 1 18 25
+f 1 25 34
+f 1 34 42
+f 1 42 41
+f 1 41 51
+f 1 51 60
+f 1 60 63
+f 1 63 62
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+f 1 61 52
+f 1 52 43
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+f 1 26 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
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+f 3 20 29
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+f 20 26 27
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+f 23 31 32
+f 23 32 24
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 26 35 27
+f 27 35 28
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+f 28 36 29
+f 29 36 37
+f 30 38 31
+f 31 38 39
+f 31 39 32
+f 32 39 40
+f 32 40 33
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+f 33 41 42
+f 33 42 34
+f 35 43 36
+f 36 43 44
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+f 37 45 46
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+f 38 48 39
+f 39 48 49
+f 39 49 40
+f 40 49 50
+f 40 50 41
+f 41 50 51
+f 43 52 53
+f 43 53 44
+f 44 53 45
+f 45 53 54
+f 45 54 55
+f 45 55 46
+f 47 56 48
+f 48 56 57
+f 48 57 49
+f 49 57 58
+f 49 58 50
+f 50 58 59
+f 50 59 51
+f 51 59 60
+f 52 61 53
+f 53 61 62
+f 53 62 63
+f 53 63 59
+f 53 59 64
+f 53 64 54
+f 54 64 65
+f 54 65 66
+f 54 66 55
+f 55 66 67
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+f 58 65 64
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+f 68 70 69
+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_54.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2762065c90c5fc5297487dbf494bf29923a7f9b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_54.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01011663 0.00038279 0.01539994
+v -0.01018532 0.00038279 0.01585785
+v -0.01002253 -0.00678174 0.01539992
+v -0.01963524 0.00038279 0.01539994
+v -0.01058522 -0.00678174 0.01661517
+v -0.01012698 -0.00678174 0.01603382
+v -0.01073107 0.00038279 0.01624820
+v -0.01004512 -0.00705209 0.01539991
+v -0.01017685 -0.00761135 0.01592872
+v -0.01963524 -0.00910799 0.01539991
+v -0.01963524 0.00038278 0.01900856
+v -0.01085151 0.00038279 0.01633369
+v -0.01213966 0.00038279 0.01720988
+v -0.01116296 -0.00678174 0.01700510
+v -0.01125423 -0.00756304 0.01696589
+v -0.01016273 -0.00782967 0.01539991
+v -0.01035186 -0.00834434 0.01539991
+v -0.01080822 -0.00797366 0.01635535
+v -0.01113285 -0.00888595 0.01600670
+v -0.01089291 -0.00910799 0.01554755
+v -0.01077717 -0.00910799 0.01539991
+v -0.01963524 -0.00910800 0.01963159
+v -0.01963524 -0.00902346 0.01965994
+v -0.01316435 0.00038279 0.01751974
+v -0.01243794 -0.00910799 0.01695379
+v -0.01170589 -0.00910799 0.01635868
+v -0.01158545 -0.00910799 0.01625275
+v -0.01122130 -0.00910799 0.01592204
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 21
+f 1 21 10
+f 1 10 4
+f 1 4 11
+f 1 11 24
+f 1 24 13
+f 1 13 12
+f 1 12 7
+f 1 7 2
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+f 2 6 3
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+f 22 25 23
+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_55.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b3c0e5aebf5288331d7e8800e450acbabcb45a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_55.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00584349 -0.00962911 -0.02099689
+v 0.00189840 -0.00565231 -0.02070672
+v 0.00189840 -0.00449400 -0.02072015
+v 0.00189840 -0.00333378 -0.02072820
+v 0.00189840 -0.00217547 -0.02073357
+v 0.00189840 0.00014116 -0.02073625
+v 0.00189840 0.00133000 -0.02073625
+v 0.00189840 0.00249022 -0.02073355
+v 0.00189840 0.00364853 -0.02072818
+v 0.00189840 0.00480875 -0.02072011
+v 0.00584349 0.00986562 -0.02078725
+v 0.00584349 -0.00962920 0.00368485
+v 0.00189840 -0.00962911 -0.02059659
+v 0.00189840 -0.00912915 -0.02061807
+v 0.00189840 -0.00797084 -0.02065568
+v 0.00189840 -0.00681253 -0.02068523
+v 0.00189840 0.00593653 -0.02070668
+v 0.00189840 0.00709675 -0.02068517
+v 0.00189840 0.00825506 -0.02065562
+v 0.00189840 0.00944390 -0.02061532
+v 0.00189840 0.00985417 -0.02059919
+v 0.00189840 0.00986562 -0.02059651
+v 0.00584349 0.00986552 0.00440762
+v 0.00584349 0.00010289 0.00644939
+v 0.00189840 -0.00962921 0.00544188
+v 0.00189840 0.00986552 0.00517330
+v 0.00584349 0.00636578 0.00644941
+v 0.00189840 -0.00168514 0.00644938
+v 0.00189840 0.00757180 0.00644942
+f 1 2 3
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+f 26 29 27
+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_56.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ff4c1c59445e6757b8fe7affcb71cc3906a7b4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_56.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01113917 0.01128937 0.01320389
+v -0.00960224 0.01128937 0.01320389
+v -0.01113917 0.01128936 0.01539957
+v -0.01113917 0.01850632 0.01320392
+v -0.00961933 0.01128937 0.01334983
+v -0.00615306 0.01595596 0.01320391
+v -0.00615306 0.01602865 0.01398173
+v -0.01091368 0.01128936 0.01539957
+v -0.01113917 0.01382963 0.01539958
+v -0.01113917 0.01822160 0.01345302
+v -0.01014644 0.01920399 0.01332084
+v -0.01043440 0.01909192 0.01320392
+v -0.00971596 0.01128937 0.01398171
+v -0.00615306 0.02160291 0.01320393
+v -0.00615306 0.01605591 0.01408124
+v -0.01079020 0.01182246 0.01539957
+v -0.01032995 0.01128936 0.01501915
+v -0.00615306 0.01654155 0.01487087
+v -0.00615306 0.01755422 0.01524957
+v -0.00615306 0.01763196 0.01526612
+v -0.01113917 0.01408204 0.01536368
+v -0.01106938 0.01369737 0.01539958
+v -0.00738299 0.01755927 0.01522141
+v -0.01113917 0.01645674 0.01458094
+v -0.01063060 0.01843060 0.01359036
+v -0.00937578 0.01947155 0.01352954
+v -0.00875544 0.02025200 0.01320392
+v -0.01004395 0.01938875 0.01320392
+v -0.00980040 0.01128937 0.01427981
+v -0.00642979 0.02148175 0.01320393
+v -0.00615306 0.02151810 0.01330194
+v -0.00615306 0.01648299 0.01483691
+v -0.01078728 0.01298759 0.01539958
+v -0.01004443 0.01128937 0.01479520
+v -0.00615306 0.01881526 0.01500156
+v -0.01113917 0.01524213 0.01511653
+v -0.00633803 0.01883143 0.01495900
+v -0.00738299 0.01856387 0.01482596
+v -0.00820392 0.01832257 0.01467036
+v -0.00856900 0.01871229 0.01430993
+v -0.00973451 0.01877792 0.01379131
+v -0.01113917 0.01603067 0.01478920
+v -0.00845138 0.01986632 0.01365935
+v -0.00800772 0.02048321 0.01342316
+v -0.00816732 0.02059528 0.01320393
+v -0.00645176 0.02144843 0.01323123
+v -0.00652301 0.02143733 0.01320393
+v -0.00738299 0.02064072 0.01354846
+v -0.00615306 0.02104457 0.01369224
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+v -0.01113917 0.01579240 0.01488936
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+v -0.00615306 0.01925346 0.01481350
+v -0.00615306 0.01950083 0.01468863
+v -0.00615306 0.01969064 0.01457944
+v -0.00738299 0.01987742 0.01404707
+v -0.00781493 0.02078509 0.01320393
+v -0.00633803 0.01990771 0.01438279
+v -0.00615306 0.02092645 0.01377048
+v -0.00615306 0.01997233 0.01439955
+f 1 2 5
+f 1 5 13
+f 1 13 29
+f 1 29 34
+f 1 34 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 36
+f 1 36 51
+f 1 51 42
+f 1 42 24
+f 1 24 10
+f 1 10 4
+f 1 4 12
+f 1 12 28
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+f 1 45 57
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+f 1 30 14
+f 1 14 6
+f 1 6 2
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+f 3 33 22
+f 3 22 9
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+
diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_57.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e835ebe8dfdfb85e975f5773c62483011777798
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_57.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.01363745 0.02396323 0.02982714
+v -0.01401989 0.02396323 0.02982714
+v -0.01365441 0.02396011 0.03003372
+v -0.01313120 0.02368084 0.02982714
+v -0.01398428 0.02396011 0.03003372
+v -0.01414709 0.02394994 0.02982714
+v -0.01432093 0.02378487 0.03141994
+v -0.01432093 0.02358540 0.03258268
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_58.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96b44dd2a50a23b1325a273a192437e076f7e7d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_58.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_59.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14958da8b9aebf86f1decc7f06216dee4f0dff6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_59.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_6.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59780d3d74de68188fcfb4ad96460af32cef41d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_6.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_60.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6fa9706707888916d23537558ec4d2c8836082
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_60.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_7.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815c3a2bd4dc88be2d8365dbfcb26e43a4b2d025
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_8.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1b1608b4299630261a3fbd70f403bebf44874bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_8.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_9.obj b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62b0c9b5caf5ecc5991e61938a6b80b4d7cdd29
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/mjcf/mesh/dental_floss_015_collision_9.obj
@@ -0,0 +1,967 @@
+# https://github.com/mikedh/trimesh
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