diff --git a/.gitattributes b/.gitattributes
index a663f6bffb61d5a9e5228b1d3348ee4c99672edf..1703dfc18a6afeaa77b5161866a4287cb12500db 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/bathroom_supplies/personal_care/0ff0f152a78e5621acc1f48ebf0e3c0d/mesh/toothbrush_026.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/0ff0f152a78e5621acc1f48ebf0e3c0d/toothbrush_026.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/comb_030.urdf b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/comb_030.urdf
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/comb_030.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/comb_030.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/comb_030_collision.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/comb_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a8dca03f3f72dc3352b97177183990c86c3263
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/comb_030_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/comb_030_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/comb_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..934ea9ed00e17b733b079245aaf445fccbf8cec2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/comb_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc90849545a7ff5b7f092b80f2db340afecaa6d0be221f74bd105f7714cd989
+size 10747313
diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6c15c991a7a3bd70b0e3f86675e734e4283419a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl comb_030_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc90849545a7ff5b7f092b80f2db340afecaa6d0be221f74bd105f7714cd989
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--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd34567cb89ed7503b76aefc25136518ad8dd7a2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e312b6eb20cfb614eb6d268750826208479a98
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision.obj
@@ -0,0 +1,12357 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_0.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637588f0a9ac8450ff0db5941535f59f080cea0c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_0.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_1.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fdec1b1a6a3080f5745ed6caa61c515cc0b92da
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_10.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fd264a84a6b76a050f98905f00c064d96f0ee76
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_10.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_11.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f646dc0793bd7a8233a1f803df175419aaacd360
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_11.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_12.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8346990517e68b33d173d206c0b2ac2fdc3a3fa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_12.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_13.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de875e6d3ef30c1408b013cf13df0eece73b6fb9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_13.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_14.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b84a998e91b03c43e740131f14660baa1e7ddf3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_14.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+f 16 33 31
+f 17 30 29
+f 17 29 18
+f 18 29 34
+f 18 34 19
+f 19 34 35
+f 20 36 21
+f 21 37 38
+f 21 38 22
+f 21 36 37
+f 22 38 23
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 27
+f 24 27 41
+f 24 41 25
+f 27 40 42
+f 28 31 29
+f 29 31 33
+f 29 33 43
+f 29 43 34
+f 33 44 43
+f 34 43 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 35
+f 36 52 37
+f 37 53 39
+f 37 39 38
+f 37 52 54
+f 37 54 50
+f 37 50 53
+f 39 53 40
+f 40 53 55
+f 40 55 44
+f 40 44 42
+f 43 44 45
+f 44 55 53
+f 44 53 49
+f 44 49 47
+f 44 47 46
+f 44 46 45
+f 47 49 48
+f 49 53 50
+f 50 54 56
+f 50 56 57
+f 50 57 58
+f 50 58 51
+
diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_15.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa9421fbf457da1cb014fed69f5c66b11c54021
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.03039330 -0.00445572 0.02303828
+v -0.02966582 -0.00448779 0.02047105
+v -0.02950000 -0.00503943 0.02047105
+v -0.02930957 -0.00550897 0.02047105
+v -0.02968294 -0.00578094 0.02303828
+v -0.02958237 -0.00570013 0.02445788
+v -0.02975354 -0.00440955 0.02496124
+v -0.02987550 -0.00097782 0.02493384
+v -0.02987658 0.00099910 0.02494207
+v -0.03038046 0.00446804 0.02303832
+v -0.02965298 0.00449626 0.02047109
+v -0.02942083 -0.00559364 0.02125350
+v -0.02829110 -0.00599647 0.02047105
+v -0.02822691 -0.00626331 0.02303828
+v -0.02822691 -0.00586562 0.02464869
+v -0.02918012 -0.00378478 0.02574151
+v -0.02943046 -0.00044287 0.02590656
+v -0.02943046 0.00047183 0.02590656
+v -0.02976852 0.00446546 0.02496511
+v -0.02958130 0.00571628 0.02446450
+v -0.02967331 0.00578941 0.02303832
+v -0.02929780 0.00550846 0.02047109
+v -0.02103129 -0.00649551 0.02047105
+v -0.02822691 -0.00608884 0.02125350
+v -0.02096710 -0.00638005 0.02303828
+v -0.02096710 -0.00593233 0.02469091
+v -0.01946400 -0.00587717 0.02485980
+v -0.02824938 -0.00440955 0.02554300
+v -0.02221665 -0.00414784 0.02579084
+v -0.02281040 -0.00090343 0.02607270
+v -0.02822691 -0.00052498 0.02594001
+v -0.02822691 0.00055137 0.02594001
+v -0.02920045 0.00386892 0.02575359
+v -0.02822691 0.00588562 0.02464764
+v -0.02822691 0.00628076 0.02303832
+v -0.02828896 0.00600109 0.02047109
+v -0.02896936 0.00571116 0.02047109
+v -0.01946400 -0.00649423 0.02047105
+v -0.01946400 -0.00635568 0.02303828
+v -0.01946400 -0.00595799 0.02455987
+v -0.01946400 -0.00445573 0.02562525
+v -0.02092324 -0.00462764 0.02557645
+v -0.02149880 -0.00414784 0.02579084
+v -0.01946400 0.00446803 0.02570589
+v -0.02281147 0.00091699 0.02607105
+v -0.02225837 0.00446803 0.02580349
+v -0.02193743 0.00538144 0.02572947
+v -0.02817556 0.00446546 0.02555236
+v -0.01946400 0.00592282 0.02490864
+v -0.02096710 0.00648345 0.02303832
+v -0.02278259 0.00644112 0.02303832
+v -0.02101524 0.00661046 0.02047109
+v -0.02194919 0.00655530 0.02047109
+v -0.02822691 0.00609474 0.02125354
+v -0.01946400 0.00659635 0.02047109
+v -0.01946400 0.00474000 0.02564393
+v -0.02179514 0.00538144 0.02572947
+v -0.02142819 0.00446803 0.02580349
+v -0.01946400 0.00645138 0.02303832
+v -0.01946400 0.00655401 0.02156554
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 22
+f 2 22 37
+f 2 37 36
+f 2 36 53
+f 2 53 52
+f 2 52 55
+f 2 55 38
+f 2 38 23
+f 2 23 13
+f 2 13 4
+f 2 4 3
+f 4 12 5
+f 4 13 12
+f 5 13 14
+f 5 14 6
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 9 18 19
+f 9 19 10
+f 9 17 18
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 13 23 24
+f 13 24 14
+f 14 24 23
+f 14 23 25
+f 14 25 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 15 25 26
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 19 33 20
+f 20 34 35
+f 20 35 21
+f 20 33 34
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 23 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 27
+f 25 27 26
+f 27 40 39
+f 27 39 38
+f 27 38 55
+f 27 55 60
+f 27 60 59
+f 27 59 49
+f 27 49 56
+f 27 56 44
+f 27 44 41
+f 27 41 42
+f 27 42 28
+f 28 42 29
+f 29 43 30
+f 29 42 43
+f 30 43 41
+f 30 41 44
+f 30 44 45
+f 30 45 32
+f 30 32 31
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 49 50
+f 34 50 51
+f 34 51 35
+f 34 48 47
+f 34 47 49
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 54 53
+f 41 43 42
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 45 58 46
+f 46 58 57
+f 46 57 47
+f 47 57 49
+f 49 59 50
+f 49 57 56
+f 50 59 60
+f 50 60 52
+f 50 52 51
+f 52 60 55
+
diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_16.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b491d2c4a6c2916ca025d9be64ee43c3f5f6e6df
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_16.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01014178 -0.00679232 0.02047157
+v 0.00999579 -0.00679232 0.02303849
+v 0.01114681 -0.00846697 0.02303848
+v 0.01093734 -0.00871419 0.02047156
+v -0.00823016 -0.00679232 0.02047157
+v 0.01108334 -0.00855186 0.02437093
+v 0.00974400 -0.00679233 0.02456588
+v 0.01138167 -0.00981222 0.02303847
+v 0.01094581 -0.00929352 0.02047156
+v -0.00960123 -0.00837132 0.02047156
+v -0.00972607 -0.00830058 0.02303848
+v -0.00807994 -0.00679232 0.02107869
+v 0.01117855 -0.00981223 0.02451298
+v 0.00913252 -0.00887116 0.02574538
+v 0.00825021 -0.00679233 0.02456122
+v 0.00525417 -0.00885432 0.02575782
+v 0.00549749 -0.00885432 0.02575782
+v 0.01102198 -0.01094595 0.02426723
+v 0.01103679 -0.01096278 0.02303847
+v 0.01089503 -0.01080784 0.02179882
+v 0.01094581 -0.00955085 0.02047155
+v -0.00985937 -0.00981222 0.02047155
+v -0.01023176 -0.00981222 0.02303847
+v -0.00956950 -0.00846698 0.02448914
+v -0.00825767 -0.00824670 0.02476445
+v 0.00979902 -0.00980616 0.02543377
+v 0.00913252 -0.00920730 0.02574538
+v 0.00552711 -0.00981223 0.02576767
+v 0.00523089 -0.00981223 0.02576767
+v -0.00825767 -0.00981223 0.02553799
+v -0.00378899 -0.01034507 0.02575522
+v 0.00989423 -0.01116016 0.02458712
+v 0.00554404 -0.01334003 0.02047154
+v 0.00989423 -0.01148013 0.02303847
+v 0.01069825 -0.01046564 0.02060894
+v 0.01068556 -0.01040097 0.02047155
+v 0.00984556 -0.01108808 0.02047155
+v -0.00971549 -0.01058824 0.02047155
+v -0.00945524 -0.01130835 0.02047155
+v -0.00967106 -0.01118036 0.02303847
+v -0.00957161 -0.01108404 0.02445077
+v -0.00977262 -0.00981223 0.02473955
+v 0.00544248 -0.01074319 0.02574226
+v 0.00017189 -0.01077485 0.02575626
+v -0.00378899 -0.01076878 0.02575522
+v -0.00032957 -0.01077485 0.02575626
+v -0.00825767 -0.01127199 0.02470429
+v 0.00079183 -0.01133598 0.02495057
+v -0.00295534 -0.01367415 0.02047154
+v -0.00839943 -0.01280853 0.02047154
+v -0.00765888 -0.01336159 0.02047154
+v -0.00096009 -0.01133733 0.02495057
+v -0.00284955 -0.01132184 0.02495057
+v -0.00304844 -0.01367415 0.02047154
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 21
+f 1 21 36
+f 1 36 37
+f 1 37 33
+f 1 33 49
+f 1 49 54
+f 1 54 51
+f 1 51 50
+f 1 50 39
+f 1 39 38
+f 1 38 22
+f 1 22 10
+f 1 10 5
+f 1 5 12
+f 1 12 15
+f 1 15 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 6 13 8
+f 6 7 14
+f 6 14 13
+f 7 15 16
+f 7 16 17
+f 7 17 14
+f 8 13 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 15
+f 13 14 26
+f 13 26 18
+f 14 27 26
+f 14 17 28
+f 14 28 27
+f 15 25 16
+f 16 29 28
+f 16 28 17
+f 16 25 30
+f 16 30 31
+f 16 31 29
+f 18 26 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 34 33
+f 19 33 20
+f 20 35 36
+f 20 36 21
+f 20 33 37
+f 20 37 35
+f 22 38 23
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 30
+f 24 30 25
+f 26 27 43
+f 26 43 32
+f 27 28 43
+f 28 29 46
+f 28 46 44
+f 28 44 43
+f 29 31 45
+f 29 45 46
+f 30 42 41
+f 30 41 47
+f 30 47 45
+f 30 45 31
+f 32 43 48
+f 32 48 49
+f 32 49 33
+f 35 37 36
+f 39 50 40
+f 40 50 41
+f 41 50 51
+f 41 51 47
+f 43 44 48
+f 44 46 52
+f 44 52 48
+f 45 53 52
+f 45 52 46
+f 45 47 53
+f 47 51 54
+f 47 54 53
+f 48 52 49
+f 49 52 54
+f 52 53 54
+
diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_17.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7785f48330514b459b2a996e8077b58bbb9c29be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_17.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01179915 0.00543436 0.02047109
+v -0.01021624 0.00508766 0.02047109
+v -0.01179915 0.00974425 0.01474075
+v -0.01179915 -0.00506835 0.02047105
+v -0.01021624 0.01103353 0.01189697
+v -0.01021624 -0.00545188 0.02047105
+v -0.01179915 0.01070200 0.01189697
+v -0.01179915 -0.00975955 0.01505039
+v -0.01021624 -0.01109864 0.01189689
+v -0.01179915 -0.01056343 0.01189689
+f 1 2 3
+f 1 3 7
+f 1 7 10
+f 1 10 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 10
+f 5 10 7
+f 6 8 9
+f 8 10 9
+
diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_18.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a0b2be56fa5834d1d39019fc99b793e8eb873b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_18.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00554352 0.01338457 0.02047164
+v 0.00512575 0.01338457 0.02047164
+v -0.00093834 0.01131591 0.02494685
+v 0.00077286 0.01130912 0.02494634
+v 0.00541481 0.01074444 0.02573459
+v 0.00989430 0.01113756 0.02455687
+v 0.01100415 0.01093020 0.02424716
+v 0.01101048 0.01093823 0.02303837
+v 0.01087755 0.01079876 0.02185133
+v 0.00982045 0.01106907 0.02047163
+v -0.00766706 0.01334631 0.02047164
+v -0.00290906 0.01129493 0.02494685
+v -0.00375727 0.01075123 0.02573666
+v -0.00029479 0.01077592 0.02575116
+v 0.00013986 0.01077592 0.02575116
+v 0.00550343 0.00982491 0.02576204
+v 0.00902077 0.00901522 0.02572319
+v 0.00973394 0.00969593 0.02539640
+v 0.01117295 0.00982491 0.02448177
+v 0.01136285 0.00982492 0.02303837
+v 0.01094085 0.00955831 0.02047163
+v 0.01070875 0.01025506 0.02047163
+v 0.01067921 0.01045687 0.02066118
+v 0.01050409 0.01055006 0.02047163
+v -0.00943312 0.01131345 0.02047163
+v -0.00962934 0.01114559 0.02303837
+v -0.00953862 0.01105733 0.02442791
+v -0.00825786 0.01123322 0.02467806
+v -0.00375727 0.01037169 0.02573666
+v -0.00825786 0.00982491 0.02552328
+v -0.00029479 0.01033281 0.02575116
+v 0.00523968 0.00982491 0.02576204
+v 0.00549288 0.00886402 0.02575840
+v 0.00902077 0.00891833 0.02572319
+v 0.01109277 0.00853509 0.02434866
+v 0.01115185 0.00844932 0.02303836
+v 0.01093663 0.00871962 0.02047162
+v 0.01064967 0.01039701 0.02047163
+v -0.00983823 0.00982492 0.02047163
+v -0.01019271 0.00982492 0.02303837
+v -0.00974961 0.00982491 0.02471949
+v 0.00524812 0.00886402 0.02575840
+v -0.00957027 0.00842277 0.02448539
+v -0.00825786 0.00816913 0.02477594
+v 0.00884986 0.00708050 0.02462833
+v 0.00975082 0.00708050 0.02461383
+v 0.00999980 0.00708050 0.02360184
+v 0.01012429 0.00708051 0.02303836
+v 0.01019181 0.00708051 0.02125366
+v 0.01020869 0.00708051 0.02071296
+v 0.01021502 0.00708051 0.02047162
+v -0.00976649 0.00917816 0.02047162
+v -0.00972640 0.00824937 0.02303836
+v -0.00960613 0.00834317 0.02047162
+v 0.00825274 0.00708050 0.02461331
+v -0.00814181 0.00708051 0.02117390
+v -0.00825786 0.00751929 0.02303836
+v -0.00833171 0.00708051 0.02047162
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 24
+f 1 24 38
+f 1 38 22
+f 1 22 21
+f 1 21 37
+f 1 37 51
+f 1 51 58
+f 1 58 54
+f 1 54 52
+f 1 52 39
+f 1 39 25
+f 1 25 11
+f 1 11 2
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 5
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 5 15 16
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 12
+f 12 28 13
+f 13 29 31
+f 13 31 14
+f 13 28 30
+f 13 30 29
+f 14 31 32
+f 14 32 16
+f 14 16 15
+f 16 32 42
+f 16 42 33
+f 16 33 34
+f 16 34 17
+f 17 34 18
+f 18 34 35
+f 18 35 19
+f 19 35 20
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 22 38 23
+f 23 38 24
+f 25 39 40
+f 25 40 26
+f 26 40 27
+f 27 40 41
+f 27 41 30
+f 27 30 28
+f 29 30 42
+f 29 42 31
+f 30 41 43
+f 30 43 44
+f 30 44 42
+f 31 42 32
+f 33 42 45
+f 33 45 46
+f 33 46 34
+f 34 46 35
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 39 52 40
+f 40 53 43
+f 40 43 41
+f 40 52 54
+f 40 54 53
+f 42 55 45
+f 42 44 55
+f 43 53 56
+f 43 56 57
+f 43 57 44
+f 44 57 55
+f 45 55 56
+f 45 56 58
+f 45 58 51
+f 45 51 50
+f 45 50 49
+f 45 49 48
+f 45 48 47
+f 45 47 46
+f 53 54 58
+f 53 58 56
+f 55 57 56
+
diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_19.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f5887ef772ce6f3b92ee5553503d509b48a4ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_19.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00639152 0.00708051 0.02047110
+v -0.00636208 0.00641223 0.02047109
+v -0.00833178 0.00708051 0.02047110
+v -0.00641293 0.00708051 0.02057156
+v -0.00099895 0.00681490 0.02047167
+v 0.00300600 0.00654929 0.02047166
+v -0.00636208 -0.00257589 0.02047106
+v -0.00814311 0.00708051 0.02117428
+v -0.00929388 0.00634418 0.02047109
+v -0.01066276 0.00596798 0.02294933
+v -0.01066276 0.00594623 0.02335342
+v -0.01066276 0.00582240 0.02471411
+v -0.00665112 0.00708051 0.02117428
+v 0.00081686 0.00640184 0.02303894
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_2.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2481b620dc72004b5cf123f7df8632162908f735
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_2.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_20.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..212b4e9ce7e7975b80a79cfb80b97ce17d39f95a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_20.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00300826 -0.00257589 0.02047106
+v 0.01183819 -0.00257589 0.02047106
+v 0.00300826 -0.00257590 0.02467888
+v 0.00300826 0.00654929 0.02047109
+v 0.01263131 -0.00002757 0.02209286
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+v 0.01199471 0.00441876 0.02047109
+v 0.00507747 -0.00257591 0.02588650
+v 0.00300826 -0.00091420 0.02489990
+v 0.00300826 0.00624398 0.02270570
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+v 0.01264284 0.00351512 0.02206450
+v 0.01172393 0.00501236 0.02047109
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+v 0.01248729 0.00490460 0.02248906
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+
diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_21.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b78659092a4b276cbde7a18e9b42eac3de624c11
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_21.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01946400 -0.00649431 0.02047105
+v -0.01555703 -0.00745487 0.02047104
+v -0.01529857 -0.00745488 0.02469809
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+
diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_3.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3739af4ce521425164c179aaf771bd311ab41879
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_3.obj
@@ -0,0 +1,811 @@
+# https://github.com/mikedh/trimesh
+v 0.05511157 -0.01446457 -0.00016817
+v 0.05527938 -0.01445606 -0.00016817
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_4.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a8577befe6670f4ce6f78b4f8a7b57f2f86fb62
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_4.obj
@@ -0,0 +1,811 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_5.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a89ab22e04c5770ab2c3ad5b8b1a3650ce0f8bb4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_6.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d80806a273ca99af7cc2708e6cb4c52d43805f7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_7.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f778bd04730e889c9561365bd7d12d57541de16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_8.obj b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0008f43ee31c13c395d1c4f6b08f2ac3c7f59d7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/mjcf/mesh/comb_030_collision_8.obj
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