diff --git a/.gitattributes b/.gitattributes
index 446a27b07f2b589a517286266534fafdde185954..210af7de8f91e86e4afd246ca1da5896ff746d7a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2511,5 +2511,5 @@ dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/mesh/ra
 dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/razor_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/hair_clip_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/mesh/hair_clip_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mouthwash_cup_007.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e5cb464389aa261a389f7b922e34d70d11eff76f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_007_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b46f1ec96b88ee4ca790d5cde10c50a492f262b1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af05b7567ed68e85121d8a4c871dc31ba9829ee366639c6ff3470647a516b338
+size 12971541
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.glb b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ba1437a9824c7e02bacd1016647c70bb278c1809
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:712e181eb438b2849a0521b737a612ebc0b7618915dfd6126c83e18ab36b1956
+size 16515160
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.mtl b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0edf7e6ccd6b3b0c1eff18f7b9fbabc412a9aeeb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.mtl
@@ -0,0 +1,6 @@
+newmtl mouthwash_cup_007_geometry_Looks_material_0
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+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/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f78726bb2f3c7084543081d44601e43aa9e1916a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007.obj
@@ -0,0 +1,119336 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_007_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007_collision.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b30e6af068095066afd2588feccba9146d3afd6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mesh/mouthwash_cup_007_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5321b8c81041b466cfd68218c14213f5040be90e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision.obj
@@ -0,0 +1,21236 @@
+# https://github.com/mikedh/trimesh
+
+o mouthwash_cup_007_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_0.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0aa83abf2d49b38b43fa0d78811302bf1b3c6f4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_1.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d1b022405930eb1230e131a6d02bad9b871d379
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_10.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f72abfc99573f471450d453cd41a0b089adf8542
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_11.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b4e2cb52ba132a8b17da3bef667c8d0c2e45a0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_11.obj
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_12.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2cc15ca9d817114d6e73ad5904e4882abae9379
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_12.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_13.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d865bbe873d651ed73697b26d5ecc6d4ba6b36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_13.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_14.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84d1a12d976ae7ac16f5415dc149ffb476670fb2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_14.obj
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_15.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c18a85e7f50e096e893d1cf44e909292620019c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_15.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_16.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2edd935a301593d987641d0a24ef4813824c8283
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_16.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_17.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2122a1fd07ac7fa6227a488dddc67011beff0bcc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_17.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_18.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d272063b5a7c2c4a2811508af3216e61bc942e6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_18.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_19.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bde85eb1026612b96be12d89345416cfdef78531
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_19.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+v 0.01310935 0.02276628 -0.04308068
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_2.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ba20f55dafe43976f6ac0650bd6a0a295431155
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_2.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_20.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8a30495ddbe99704f013041f8b08587422ca73
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_20.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_21.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8260d092b7c2662e2dc80b3ead19f21673fc46cb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_21.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v 0.04663313 -0.00064908 -0.00856429
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+v 0.04498225 -0.00952209 -0.00856432
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+v 0.02424709 -0.00952196 -0.04370232
+v 0.02442755 -0.00952196 -0.04311864
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+v 0.04377027 -0.00888887 -0.01840139
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_22.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa80ec417322414b3c731e922bc3ca6da7c55ed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_22.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.04278047 -0.01423735 -0.01334551
+v -0.03660300 0.00014894 -0.01334546
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+v -0.04792693 -0.00064961 0.01278674
+v -0.04785896 0.00014887 0.00628823
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_23.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e578074177fc20815bd1fa44afe65159b49c6747
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_23.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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+v -0.03696372 -0.01423754 0.03755209
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_24.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..085d46d439676d99c7f18a24d64b8ed91e9c9edb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_24.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_25.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad6410cfc304338ec05fd6bd64961ec6c796431b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_25.obj
@@ -0,0 +1,154 @@
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_26.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd04d1a6f0b6d0356cda31dea5fe62b154b369bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_26.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_27.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14fd1fbf2193ed3c5efcde993aa1efccaef1c56
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_27.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_28.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da343c45bce3e8610eaa21d9b2e546020aa26560
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_28.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_29.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c90cb3184b59ba9a4d93ceb56f62b06dd0c16d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_29.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+v 0.00014574 -0.04763842 0.01303197
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_3.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..724681f7b571f03491f5992e44ccd82cc90561cc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_3.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_30.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f68f2280bef9918d15bc834d7403a867c3b40034
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_30.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_31.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2622bbc3ebcca0b2c8e4d574a7ad5f89832e3651
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_31.obj
@@ -0,0 +1,634 @@
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_32.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf09ac703f1083982c28c501ca1a21a88272835
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_32.obj
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_33.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b034bf092cd4beec5c932dc0644c4164577e589c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_33.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_34.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a84cb47abde2b4860eafaf92e3516462c90054
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_34.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_35.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e31f3f066be41adf6f45a90d7b722ef7c0b42f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_35.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_36.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7806227ec0c8bbb91934559ca23aaec9f70bdf95
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_36.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_37.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4072d57b711384685afc6effc6c6871b3ac16874
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_37.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_38.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51dab2b8b0ad86ee02edfa9346e3fa0ad1950509
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_38.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_39.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9227d12eb37baeabb34b91d6103a6edfe195e393
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01635983 0.01307746 -0.04967816
+v -0.01635983 0.01307746 -0.04867816
+v -0.01635983 0.03211607 -0.04967816
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+v 0.00014569 0.01307746 -0.04867816
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+v 0.00014569 0.03211607 -0.04867816
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_4.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..137beaf6fd9dfa344706a492f2e8fe13512f2d21
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_4.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_40.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ef11e57b5141a7299f79ca5e8cc41181dcf99a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_40.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01679227 -0.02742382 -0.04492312
+v 0.01679227 -0.02714814 -0.04943371
+v 0.01851550 -0.02642206 -0.04492312
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+v 0.02199820 -0.02323840 -0.04943370
+v 0.02305082 -0.02266546 -0.04492310
+v 0.03012359 -0.01177223 -0.04492306
+v 0.02958403 -0.01231454 -0.04943366
+v 0.02963422 -0.01219563 -0.04943365
+v 0.02992979 -0.01148935 -0.04943365
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+v 0.02282218 -0.02243663 -0.04943369
+v 0.02361826 -0.02161144 -0.04943369
+v 0.02529269 -0.02011242 -0.04492309
+v 0.02930798 -0.01367305 -0.04492307
+v 0.02923548 -0.01383521 -0.04492307
+v 0.02889669 -0.01383520 -0.04943366
+v 0.02444084 -0.02067094 -0.04943369
+v 0.02619613 -0.01905841 -0.04492309
+v 0.02866805 -0.01503876 -0.04492308
+v 0.02836551 -0.01491263 -0.04943366
+v 0.02454122 -0.02055203 -0.04943369
+v 0.02512678 -0.01984575 -0.04943368
+v 0.02612085 -0.01852329 -0.04943368
+v 0.02656002 -0.01792691 -0.04943368
+v 0.02673011 -0.01823322 -0.04492309
+v 0.02860112 -0.01517209 -0.04492308
+v 0.02791100 -0.01573602 -0.04943367
+v 0.02692530 -0.01735757 -0.04943367
+v 0.02679285 -0.01813593 -0.04492309
+v 0.02854814 -0.01526758 -0.04492308
+v 0.02699083 -0.01725307 -0.04943367
+f 1 2 3
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+f 1 19 24
+f 1 24 32
+f 1 32 37
+f 1 37 44
+f 1 44 48
+f 1 48 49
+f 1 49 45
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+f 1 9 4
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+f 9 14 10
+f 11 15 12
+f 12 15 16
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+f 12 17 18
+f 12 18 19
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 18 23 24
+f 18 24 19
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 31 36 32
+f 32 36 37
+f 34 38 35
+f 35 38 39
+f 36 40 37
+f 37 40 41
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+f 37 42 43
+f 37 43 44
+f 38 45 39
+f 39 45 46
+f 43 47 48
+f 43 48 44
+f 45 49 46
+f 46 49 50
+f 47 50 48
+f 48 50 49
+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_41.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c0284ba8d187b9a4873a0d4b6eb82d2304aee85
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00014731 -0.03182528 -0.04967555
+v 0.00014731 -0.03182528 -0.04867555
+v 0.00014731 -0.01273603 -0.04967555
+v 0.00014731 -0.01273603 -0.04867555
+v 0.01679227 -0.03182528 -0.04967555
+v 0.01679227 -0.03182528 -0.04867555
+v 0.01679227 -0.01273603 -0.04967555
+v 0.01679227 -0.01273603 -0.04867555
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_42.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..188883221411c637f7f08ea63130e934479dd994
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_42.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03234938 0.00014703 -0.04492302
+v 0.03234807 -0.00064867 -0.04492302
+v 0.03200587 0.00003132 -0.04943361
+v 0.03200587 0.00014704 -0.04943361
+v 0.02584872 0.00014703 -0.04492302
+v 0.03213598 -0.00375611 -0.04492303
+v 0.03192129 -0.00229747 -0.04943362
+v 0.03199286 -0.00088728 -0.04943361
+v 0.03200326 -0.00064866 -0.04943361
+v 0.02112286 0.00014704 -0.04943361
+v 0.01905790 -0.00901739 -0.04943364
+v 0.02409083 -0.00901740 -0.04492305
+v 0.03211777 -0.00394539 -0.04492303
+v 0.03177816 -0.00394538 -0.04943362
+v 0.03073983 -0.00901739 -0.04943364
+v 0.03103519 -0.00901740 -0.04492305
+v 0.03189657 -0.00562738 -0.04492304
+v 0.03160511 -0.00520575 -0.04943363
+v 0.03077886 -0.00888911 -0.04943364
+v 0.03188356 -0.00571530 -0.04492304
+v 0.03188876 -0.00568300 -0.04492304
+v 0.03145417 -0.00602926 -0.04943363
+v 0.03114059 -0.00747892 -0.04943364
+v 0.03120044 -0.00724030 -0.04943364
+v 0.03142164 -0.00618984 -0.04943363
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 12
+f 1 12 16
+f 1 16 20
+f 1 20 21
+f 1 21 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 8
+f 3 8 7
+f 3 7 14
+f 3 14 18
+f 3 18 22
+f 3 22 25
+f 3 25 24
+f 3 24 23
+f 3 23 19
+f 3 19 15
+f 3 15 11
+f 3 11 10
+f 3 10 4
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 11 15 16
+f 11 16 12
+f 13 17 14
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 20
+f 18 20 22
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 20 25 22
+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_43.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a89edcb7b82bea82f281fa05ba8068126d228ba
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00015003 0.01599694 -0.04977743
+v 0.00015003 0.01599694 -0.04877742
+v 0.00015003 0.03210764 -0.04977743
+v 0.00015003 0.03210764 -0.04877742
+v 0.02793854 0.01599694 -0.04977743
+v 0.02793854 0.01599694 -0.04877742
+v 0.02793854 0.03210764 -0.04977743
+v 0.02793854 0.03210764 -0.04877742
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_44.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5b8df2960b46922c6fbf131cf206ebfcf404bc1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_44.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02034852 0.00014907 -0.04947052
+v -0.01795985 -0.00912191 -0.04947055
+v -0.03173841 0.00014907 -0.04947052
+v -0.02521947 0.00014906 -0.04606537
+v -0.02337600 -0.00912192 -0.04606540
+v -0.03040433 -0.00912191 -0.04947055
+v -0.03174116 -0.00044715 -0.04947052
+v -0.03188021 -0.00064861 -0.04802560
+v -0.03187608 0.00014907 -0.04802560
+v -0.03201789 0.00014906 -0.04606537
+v -0.03059157 -0.00912192 -0.04606540
+v -0.03048005 -0.00912191 -0.04822962
+v -0.03047730 -0.00888868 -0.04947055
+v -0.03174116 -0.00064861 -0.04947052
+v -0.03202477 -0.00064862 -0.04606537
+v -0.03166406 -0.00209607 -0.04947053
+v -0.03179210 -0.00229754 -0.04802561
+v -0.03066454 -0.00888869 -0.04606540
+v -0.03049107 -0.00912191 -0.04802563
+v -0.03056403 -0.00888868 -0.04802563
+v -0.03052686 -0.00870446 -0.04947055
+v -0.03194354 -0.00198264 -0.04606538
+v -0.03165305 -0.00229754 -0.04947053
+v -0.03149747 -0.00374408 -0.04947053
+v -0.03160486 -0.00394555 -0.04802561
+v -0.03173841 -0.00394556 -0.04606538
+v -0.03130748 -0.00648020 -0.04606539
+v -0.03096880 -0.00738315 -0.04802563
+v -0.03114365 -0.00645115 -0.04893057
+v -0.03093300 -0.00711271 -0.04947055
+v -0.03147407 -0.00394555 -0.04947053
+v -0.03124553 -0.00549011 -0.04947054
+v -0.03123176 -0.00558267 -0.04947054
+v -0.03121386 -0.00570155 -0.04947054
+v -0.03134603 -0.00559266 -0.04802562
+v -0.03148921 -0.00559267 -0.04606539
+v -0.03095916 -0.00700835 -0.04947055
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 30
+f 1 30 37
+f 1 37 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 24
+f 1 24 23
+f 1 23 16
+f 1 16 14
+f 1 14 7
+f 1 7 3
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+f 1 4 2
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+f 15 17 22
+f 16 23 17
+f 17 23 24
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+f 17 25 26
+f 17 26 22
+f 18 27 28
+f 18 28 20
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 24 31 25
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 29
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+f 25 35 36
+f 25 36 26
+f 27 36 29
+f 27 29 28
+f 29 37 30
+f 29 36 35
+f 29 34 37
+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_45.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..472ee00215db7c9bd0fe6d187eac6242855d0f0d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_45.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01723173 0.01599539 -0.04897077
+v 0.02018863 0.01599693 -0.04492072
+v 0.01723321 0.01599694 -0.04897037
+v 0.01743004 0.01599694 -0.04897077
+v 0.02351848 0.00014704 -0.04897083
+v 0.02584937 0.00014703 -0.04492078
+v 0.02823355 0.01599693 -0.04492072
+v 0.02794052 0.01599694 -0.04897077
+v 0.03201625 0.00014704 -0.04897083
+v 0.03234924 0.00014703 -0.04492078
+v 0.02858133 0.01549425 -0.04492072
+v 0.02835490 0.01524292 -0.04897077
+v 0.03201625 0.00059386 -0.04897083
+v 0.03235072 0.00100034 -0.04492078
+v 0.02920438 0.01418481 -0.04492073
+v 0.02888324 0.01418482 -0.04897078
+v 0.02859021 0.01477438 -0.04897078
+v 0.03201477 0.00100035 -0.04897083
+v 0.03193042 0.00264802 -0.04897082
+v 0.03234036 0.00118807 -0.04492078
+v 0.03056148 0.01100117 -0.04492074
+v 0.02961580 0.01254801 -0.04897078
+v 0.02917034 0.01354561 -0.04897078
+v 0.03178243 0.00420571 -0.04897081
+v 0.03212725 0.00429723 -0.04492076
+v 0.03060144 0.01088791 -0.04492074
+v 0.03002279 0.01152713 -0.04897079
+v 0.02991919 0.01181881 -0.04897079
+v 0.02982003 0.01206550 -0.04897079
+v 0.02973716 0.01226253 -0.04897078
+v 0.03177355 0.00429724 -0.04897081
+v 0.03167883 0.00496593 -0.04897081
+v 0.03160927 0.00544223 -0.04897081
+v 0.03159891 0.00551205 -0.04897081
+v 0.03210357 0.00445083 -0.04492076
+v 0.03105578 0.00924024 -0.04492075
+v 0.03076275 0.00924025 -0.04897080
+v 0.03021222 0.01097326 -0.04897079
+v 0.03144648 0.00633744 -0.04897081
+v 0.03186086 0.00599145 -0.04492076
+v 0.03117861 0.00759258 -0.04897080
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 16
+f 1 16 23
+f 1 23 22
+f 1 22 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 38
+f 1 38 37
+f 1 37 41
+f 1 41 39
+f 1 39 34
+f 1 34 33
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+f 1 32 31
+f 1 31 24
+f 1 24 19
+f 1 19 18
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+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
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+f 2 35 40
+f 2 40 36
+f 2 36 26
+f 2 26 21
+f 2 21 15
+f 2 15 11
+f 2 11 7
+f 5 9 10
+f 5 10 6
+f 7 11 8
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+f 9 13 14
+f 9 14 10
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 19 24 25
+f 19 25 20
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 24 31 25
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 34 39 40
+f 34 40 35
+f 36 40 41
+f 36 41 37
+f 39 41 40
+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_46.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28c8bb8c8cbde468b9c6c40f20ef8d6f417424a9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_46.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.03059190 -0.00912192 -0.04606540
+v -0.03015643 -0.01053832 -0.04606541
+v -0.02337402 -0.00912192 -0.04606540
+v -0.03049118 -0.00912191 -0.04802563
+v -0.02963060 -0.01172323 -0.04802564
+v -0.02979501 -0.01153953 -0.04606541
+v -0.03005126 -0.01053831 -0.04802564
+v -0.01766845 -0.00943973 -0.04947055
+v -0.01796025 -0.00912191 -0.04947055
+v -0.01545999 -0.01961355 -0.04606544
+v -0.03047784 -0.00912191 -0.04825795
+v -0.02996387 -0.01053831 -0.04947056
+v -0.02958468 -0.01160566 -0.04947056
+v -0.02929289 -0.01254808 -0.04802565
+v -0.02932399 -0.01262709 -0.04606542
+v -0.03040527 -0.00912191 -0.04947055
+v -0.01569254 -0.01240847 -0.04947057
+v -0.01545999 -0.02788964 -0.04606547
+v -0.01545999 -0.01298164 -0.04947057
+v -0.02954321 -0.01170670 -0.04947056
+v -0.02924253 -0.01243051 -0.04947057
+v -0.02868115 -0.01367790 -0.04947057
+v -0.02870041 -0.01383405 -0.04802565
+v -0.02879372 -0.01383406 -0.04606542
+v -0.01592508 -0.02763429 -0.04606547
+v -0.01545999 -0.02781247 -0.04802570
+v -0.01545999 -0.02772429 -0.04947062
+v -0.02860857 -0.01383405 -0.04947057
+v -0.02810497 -0.01485731 -0.04947057
+v -0.02806942 -0.01508694 -0.04802566
+v -0.02811237 -0.01519351 -0.04606543
+v -0.01712041 -0.02691231 -0.04606547
+v -0.01585399 -0.02759570 -0.04802570
+v -0.01545999 -0.02777573 -0.04865500
+v -0.01577548 -0.02755161 -0.04947062
+v -0.02802794 -0.01500979 -0.04947058
+v -0.02797314 -0.01511083 -0.04947058
+v -0.02761469 -0.01590996 -0.04802566
+v -0.02765172 -0.01597978 -0.04606543
+v -0.01809652 -0.02629505 -0.04606547
+v -0.01712041 -0.02682779 -0.04802570
+v -0.01724187 -0.02665327 -0.04947062
+v -0.02757025 -0.01583464 -0.04947058
+v -0.02684447 -0.01702140 -0.04947058
+v -0.02686668 -0.01713163 -0.04802566
+v -0.02697333 -0.01710224 -0.04606543
+v -0.01825501 -0.02618849 -0.04606547
+v -0.01802246 -0.02624911 -0.04802570
+v -0.01797950 -0.02621971 -0.04908764
+v -0.01748775 -0.02649895 -0.04947062
+v -0.02669635 -0.01726206 -0.04947058
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_47.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b05fa2088e4d628727196ebd0a1a3ca32c34289
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_47.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01869668 0.00938014 -0.04943553
+v -0.02376369 0.00938013 -0.04492032
+v -0.02556430 0.00014997 -0.04492035
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+v -0.03174251 0.00027196 -0.04943556
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_48.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8400357fdfd9454c49d99e08b3fa7a6983cd099a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_48.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01679227 -0.01644808 -0.04891743
+v 0.01679227 -0.01922612 -0.04492348
+v 0.01679227 -0.02717296 -0.04891747
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_49.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac788538bccc7fcc4c81a17cff6d31c4c1c95057
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_49.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01044935 0.00014704 -0.04974921
+v 0.01044935 0.00014704 -0.04874921
+v 0.01044935 0.01599694 -0.04974921
+v 0.01044935 0.01599694 -0.04874921
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+v 0.03201747 0.00014704 -0.04874921
+v 0.03201747 0.01599694 -0.04974921
+v 0.03201747 0.01599694 -0.04874921
+f 2 4 1
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_5.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5f2cfd7523871bb95a33509ec17455ddf9d8af0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_5.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.01553404 -0.04217965 0.04412561
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_50.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5c387e35f5f4c9ffca7f7ab1ef6701343efd53
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_50.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+v -0.03039835 0.00938014 -0.04943553
+v -0.02376291 0.00938013 -0.04492032
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_51.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82880b78d1c004272054a0c8ad63709eb5533272
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_51.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_52.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8180e889cc916204013dcef565dff6ae3f338ca3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_52.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_53.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecb98fa582718d76268833764a3011a089dea293
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_53.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_6.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8596b35b1598379b4872b24d1e0510c16a1e17e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_6.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_7.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b2664e3516130031f5b036510581b33732017aa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_8.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6f5672f89ab3aae34c14a6a6fe4bb3a14119f77
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_8.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_9.obj b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87e7ae2a93af0408f0516e3302c9bf389cdc6528
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mesh/mouthwash_cup_007_collision_9.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mouthwash_cup_007.xml b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mouthwash_cup_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..efd6918036950fee9a1ee09b9560b0524de230ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mjcf/mouthwash_cup_007.xml
@@ -0,0 +1,122 @@
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mouthwash_cup_007.urdf b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mouthwash_cup_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..07779d4dc404629cf305c089b7a9e884c3eb8e4a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mouthwash_cup_007.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_007">
+   <link name="mouthwash_cup_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>543a66d50c225d32b3774093f0e9c09e</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>ornate cup</name>
+         <color>amber</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>decorative cup with floral patterns and rounded base</description>
+         <min_height>0.1000</min_height>
+         <max_height>0.1000</max_height>
+         <real_height>0.1000</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414144053</generate_time>
+         <gs_model>""</gs_model>
+      </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/543a66d50c225d32b3774093f0e9c09e/mouthwash_cup_007.usd b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mouthwash_cup_007.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mouthwash_cup_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b91f528b89243ea66c147516b4254cf4234438a07b48cdde3e82bc082e878d8d
+size 5046757
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/textures/material_0.png b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af05b7567ed68e85121d8a4c871dc31ba9829ee366639c6ff3470647a516b338
+size 12971541
diff --git a/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/video.mp4 b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e56a2c99047c70f20aeeabfadfd03884430ef69282ca99281f227d9575528f15
+size 827394