diff --git a/.gitattributes b/.gitattributes
index e4cd35a818b1f011f35457935d36bf4daae50b48..f61046e3f95ac3b001688e83f2693aa4c8abdf39 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2521,3 +2521,5 @@ dataset/bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa/comb_03
 dataset/bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa/mesh/comb_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92ce32541d79aa667962c89ab310be619cf29d14
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002.glb b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002.glb
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002.mtl b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..886fcae54e8124e012fcaf77cbde7632f84137e2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ccafb0e29b453f5646b266e0ae600b1498545e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002_collision.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e474a4c3b63c3185df2359089a3b2de386097c17
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002_collision.obj
@@ -0,0 +1,17011 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mouthwash_cup_002_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..207d7f90d8e83a5371f65a4f1bf81bed037b250f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision.obj
@@ -0,0 +1,17011 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_0.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e835492cda41e1e88194cfcab9f1b3876c83fde
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_1.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9060532ea7f396b70a49d1308f5cf0ee1b66aeed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_10.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0cb907cd3a90b6d5b2bb9a79ebdccc6f1c72940
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_11.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16e9d4dea0c2302d37b4fe350119d6f48d978e3b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_11.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_12.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6d94dc231eaea26c9fd66f364c0b414cf37c19d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_12.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_13.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce2fdfe0c766ea4a98634b7e59abb7238f8fd761
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_13.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_14.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69808ae9ea810c46f98039836dfc4eccb02e26bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_14.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_15.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82d43865ad695d10cc9b079dad846687f77af7d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_15.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v 0.03706076 -0.03103699 0.04838620
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_16.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f3ea2dc9ae5105e1e2ef506ba30f4f276d6a812
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_16.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03042311 0.02474086 0.01230531
+v 0.01723720 0.03488217 0.01230535
+v 0.03042311 0.03292766 0.01230534
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_17.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..087899aaa8dd37535b7e9a1c999ee93ce2df1c86
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_17.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.03453455 0.03397656 0.05821315
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_18.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e7f64529b3b8a01ab072dfebb73fb78043c2bc4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_18.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_19.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9eb06a9d3a52205ee96960c4c7416cbc90037b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_19.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_2.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997ade76c3efb14f1c6e9d7e155115f53993d03f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_20.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534485bd8b033d6a4e252f5642b15b5a7a56830e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_20.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_21.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b845cfe7ea35ee4bfb78dca790c5ae558b38dcb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_21.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_22.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2cbbb72dcdd5b53e8bc7939e8ce428197587f4b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_22.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_23.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af1f6abf1ec671c1809d03b8a5818fcaf199a81c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_23.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_24.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fd0fa63da9c97ecc44fb8606bacf6764aa8fa16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_24.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_25.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e74b2866c050873ac29c1f9028e8c6081462e47b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_25.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_26.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e5ca0b0d3fe9aa619b73254ba8060668fa60fa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_26.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_27.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a6d7665153d8781e8ead51a9591345abc8d574a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_27.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_28.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acdb880efc1b3defe00718d811a0ca494e8a92ce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_28.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.03930572 -0.00013510 0.01230522
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+v 0.04488044 -0.00013510 0.01230522
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_29.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b913973b16b0391fd2c1aa5f2e032d0fdc786bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_29.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_3.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d6ceefdcb765eb419f23887f150f4b365ce07c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_3.obj
@@ -0,0 +1,1066 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_30.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48cb7f154e2fffbde10346804645eb8c3d1ae797
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_30.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00041228 -0.04236480 0.04838574
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_31.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..856280c6315f229591e2715cdaaefbefe2fa2069
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_31.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_32.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d4b5e3d2c40ad433384a36b42583bec7036839a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_32.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_33.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3272bad95022d5c6b050cf83565585d75b60cc6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_33.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_34.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa374c1942e4b823cbd2fe70c19cc43374f63bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_34.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_35.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72312c95ae23cfb39a75dd49ba111db563bbd2bf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_35.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_36.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d7c7f03006a60933bfa087888c225aa80194c9a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_36.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_37.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb9c91af0e033110c6be17e0fec84e3629fb6ff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_37.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_38.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e27ee2dbbede4798a6d8fd667804882ef7eaee95
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_38.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_39.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b37c6cde22ab28b63d167d430927d2edda495ba
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_39.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v 0.01270738 0.03713212 -0.05154818
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+v 0.01449571 0.03656056 -0.05091459
+v 0.01294196 0.03692504 -0.05241620
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_4.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf150c8adbc9e4cf69c00f4ecc5bece723f441ab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_4.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_40.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c80d26a4665e090db3b4575ed2fa036f0153d02b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_40.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.00129440 0.05196040 0.05427649
+v 0.00129440 0.05177258 0.05231780
+v 0.00041387 0.05185474 0.05319935
+v 0.00041387 0.05195779 0.05427649
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_41.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70c4de4db2e60111f4b7264381534adbaebfe44
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_41.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_42.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66df8f33d9a3a67db27fea28646ce10717b797ed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_42.obj
@@ -0,0 +1,151 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_43.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..088370e76939c90924619c23b29ea8dce96b3461
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_43.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_44.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fcd9d1d9869822b64fea6fdb18ff7833e8d508c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_44.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_45.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e0bc53ec3adc90c66499be1082ae7b2d94a8fe2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_45.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_46.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f95972a481359f904052a1b028f7b9d0a01efef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_46.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_47.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a155bd213fca4792a3b347472de1bda033be7b5a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_47.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_48.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fb221be221c2a7cc6af544121aef33c415949dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_48.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_49.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f10f8ab63425460258973e6b3024b00898c9fb20
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_49.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_5.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4d3f85c8e739cd55235a672434ca13e676988e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_5.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_50.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44b2e86bbe7e610417bcd7dca33152083654567a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_50.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_51.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b6a022abfef2cc5c933cdca0313f89958056b7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_51.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.04274935 0.01361014 0.01230527
+v 0.04249355 0.01442409 0.01230527
+v 0.03681825 0.01361014 0.01230527
+v 0.03740125 0.01361037 -0.04881663
+v 0.04154172 0.01582156 0.00724093
+v 0.04176183 0.01642830 0.01230528
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+v 0.02249318 0.02440841 -0.04928685
+v 0.03043107 0.01361037 -0.04928689
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+v 0.03717321 0.01408922 -0.04928689
+v 0.04146835 0.01717883 0.01230528
+v 0.03768482 0.02440818 0.01230531
+v 0.03129763 0.02440841 -0.04928685
+v 0.03710380 0.01426153 -0.04928689
+v 0.04137911 0.01736171 0.01211838
+v 0.04138705 0.01738179 0.01230528
+v 0.03795450 0.02398746 0.01230531
+v 0.03765904 0.02440819 0.01204003
+v 0.03190641 0.02362617 -0.04928685
+v 0.03731202 0.02440820 0.00865777
+v 0.03632449 0.01609661 -0.04928688
+v 0.04130773 0.01756360 0.01230528
+v 0.03620353 0.01637885 -0.04928688
+v 0.03852362 0.02304772 0.01230530
+v 0.03789700 0.02389762 0.01115980
+v 0.03357409 0.02129637 -0.04881660
+v 0.03762533 0.02440819 0.01170241
+v 0.03205711 0.02341370 -0.04928685
+v 0.03748652 0.02440819 0.01035192
+v 0.04097855 0.01830673 0.01230529
+v 0.03563243 0.01759449 -0.04928688
+v 0.03897177 0.02229825 0.01230530
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+v 0.03317750 0.02181011 -0.04928686
+v 0.03297721 0.02210292 -0.04928686
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+v 0.03512082 0.01857229 -0.04928687
+v 0.03946157 0.02133949 0.01173255
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+v 0.04001086 0.02035640 0.01230529
+v 0.03926129 0.02179085 0.01230530
+v 0.03948933 0.02138917 0.01230530
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+f 23 24 31
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+f 33 43 39
+f 33 39 34
+f 39 43 44
+f 39 44 40
+f 40 44 41
+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_52.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab517e4a081611151c6dceae649bcaf90a1e6d45
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_52.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.04488264 0.00073563 0.01230522
+v 0.04480342 0.00269125 0.01230523
+v 0.04487981 -0.00023608 0.01230522
+v 0.04486566 -0.00023607 0.01213038
+v 0.03980950 0.00073586 -0.04928694
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+v 0.03930445 -0.00023608 0.01230522
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+v 0.03954212 0.00445465 -0.04928692
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+v 0.03948977 0.00491679 -0.04928692
+v 0.03862822 -0.00023605 0.00528145
+v 0.03682022 0.01360908 0.01230527
+v 0.03043140 0.01360931 -0.04928689
+v 0.03784305 -0.00023585 -0.04928694
+v 0.04405221 0.00855674 0.01230525
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+v 0.03342917 -0.00023449 -0.04928694
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+v 0.03362581 -0.00023585 -0.04771338
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+v 0.04309021 0.01251540 0.01230527
+v 0.03776525 0.01240992 -0.04928689
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+f 18 30 31
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+f 32 41 40
+f 35 43 36
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+f 41 42 45
+f 42 44 43
+f 42 43 45
+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_6.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..217eec1d028e0f65d00850e02c2c0e3bddf2b366
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_6.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01723591 0.04456637 0.04838242
+v 0.01637142 0.04490509 0.04838242
+v 0.01723591 0.03843572 0.04838240
+v 0.01723591 0.04107497 0.01230537
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+v 0.00520558 0.04405406 0.01230538
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+f 30 32 35
+f 30 35 36
+f 30 36 34
+f 33 34 36
+
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_7.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..109e48f011c8050bfa7490cf55c82f1bd9888a65
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_7.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v -0.01808631 0.04860864 0.05427642
+v -0.01808631 0.04854198 0.05479420
+v -0.01808631 0.04848793 0.05231714
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_8.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f18934933b6a1d6e07d26362769ce38c0869ae9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_8.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_9.obj b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec968cabf8e47f9f379a991e8ed6fcf86a59ad6c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mesh/mouthwash_cup_002_collision_9.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mouthwash_cup_002.xml b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mouthwash_cup_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..01197f01eff98f59a88ee32840266b637777d8a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mjcf/mouthwash_cup_002.xml
@@ -0,0 +1,120 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_002">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mouthwash_cup_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mouthwash_cup_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/mouthwash_cup_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_32" file="mesh/mouthwash_cup_002_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_34" file="mesh/mouthwash_cup_002_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mouthwash_cup_002_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mouthwash_cup_002_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mouthwash_cup_002_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mouthwash_cup_002_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mouthwash_cup_002_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mouthwash_cup_002_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mouthwash_cup_002_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mouthwash_cup_002_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mouthwash_cup_002_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mouthwash_cup_002_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mouthwash_cup_002_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mouthwash_cup_002_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/mouthwash_cup_002_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/mouthwash_cup_002_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/mouthwash_cup_002_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/mouthwash_cup_002_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/mouthwash_cup_002_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/mouthwash_cup_002_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_002">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mouthwash_cup_002.urdf b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mouthwash_cup_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..10d71cc5021d9e14870d3f013b220ad8fa4e051d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mouthwash_cup_002.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_002">
+   <link name="mouthwash_cup_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>6949180532de5acebd8ccf7ebc61d901</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>patterned cup</name>
+         <color>blue and white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>blue and white patterned cup with a circular base and flared rim</description>
+         <min_height>0.1190</min_height>
+         <max_height>0.1190</max_height>
+         <real_height>0.1190</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414143358</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mouthwash_cup_002.usd b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mouthwash_cup_002.usd
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diff --git a/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/textures/material_0.png b/dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/textures/material_0.png
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