diff --git a/.gitattributes b/.gitattributes
index ddc72c95f43aa72d8201484010ebc54eae2a563a..9c3910fce4154d198fa32c3b361f00a0ddf302ff 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2535,3 +2535,5 @@ dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/mesh/to
 dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/toothbrush_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/mesh/nail_clipper_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/nail_clipper_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mouthwash_cup_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70294f2c12fd8b5db349b0e9a9dc99cc4552adfe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_018_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018.glb b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f24153837e316298758557b8d11fc2dd63a9e8fe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018.glb
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018.mtl b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c7ae0ab4eeb7d0c25a59103f54f1c2752a9afdbb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018.mtl
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+newmtl mouthwash_cup_018_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f0f8ba1a254fd9935a901e33766b461bdded43b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018.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/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018_collision.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e85c6c61a6b9cf079f633701c75be6b5914812d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mesh/mouthwash_cup_018_collision.obj
@@ -0,0 +1,27174 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba3e0c0c7d9f9f9f6513aa44251d97cca1e8215
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision.obj
@@ -0,0 +1,27174 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_0.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c919c77a022ad31a1b59b30ff1cf29f83b55db
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_1.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba86b1b9a9a320f4caabbcf7b62509fdeda85993
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_1.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_10.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8418258b2cd34ff31111abca40e9d989aef675e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_10.obj
@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_11.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba35f7e43e688f42d7286107872250c7fd6fe00
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_11.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_12.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2e6304b7d9122e2eeaef7f2b3b6a9bf5f363bbe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_12.obj
@@ -0,0 +1,781 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_13.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b08dec64706eeb91ecfe1e2e0573979dad42fb5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_13.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_14.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dae56b2b2f6447e84dbb0dfdac5fc27fc4f6d68
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_14.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_15.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2708fcb7d2b3333b92ea7248df85de2699845b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_15.obj
@@ -0,0 +1,607 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_16.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5db88a2daa903becea592d193122324f52ceff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_16.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_17.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef214ba62cd0e00b90e8d35423710513c5351e7c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_17.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_18.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2546095149b851fe3414d8652172c4fbe25ded
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_18.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_19.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b7224827c7acdc65f8fed479b09cef4a2f50796
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_19.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_2.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..546b041e91e671add7f73365482f9b3f802383a0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_20.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04df1ae73a89352ab7e67e9f6224716db5fb2fbe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_20.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_21.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04dc5610849603e43427b27deb9018a0c8e1e6c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_21.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_22.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f13d056711047e7d010058497318ed81b10a9d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_22.obj
@@ -0,0 +1,631 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_23.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48ed0935ee717cb1141a248993c352868999474e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_23.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_24.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aa6433938edff886db688ec5c531a2385e6164c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_24.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_25.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cdfac2c58ad12cc770862a31b59063ea4a7e2c8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_25.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_26.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60edbea5bcf88a441fa7ff25df9dee2c0d92d7fd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_26.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_27.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ede5740a7832a632a9f9bda5298af6fd3feefe1a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_27.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_28.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bddad23a676968f5639372aa8b4c95ea0c58346a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_28.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_29.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fdce5e6269293ff1ecdd04425b34f9d5d75a30d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_29.obj
@@ -0,0 +1,655 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_3.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92809cc25b54f1720c08b0c71034ae4f4433adca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_30.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88d23a6bf3e5ebf0687dd5e1657751658ea06f5c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_30.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_31.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ba29ae31894fea5bb9428235748427da9dc23f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_31.obj
@@ -0,0 +1,943 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_32.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caf65b905cefd8e2eae6c4a622f556622988c527
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_32.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_33.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfdc525051f501c422be13fab366d1b8deb1cee9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_33.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_34.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5615e4d6c07b1d05275f165d2df67da88d03adec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_34.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_35.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b909575d493bbcb84061adfe7bd0688db377fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_35.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_36.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90ce36e947c3482bdd90f17b6e589b1f20db1b5c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_36.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_37.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd68b456dbcf317436734e3e4b4ecd2fe40574e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_37.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_38.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feef71f69f7504e208ba0373fe0f19643a5b58cd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_38.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_39.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca4ce1847df157a145c2f3f7f2ddbd9f3fe01d16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_39.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_4.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7882699d0e662f3e93d3750013a65549d1fedeca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_40.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e02d741ff9bd6812448d5cc69ea0c23d89be689e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_40.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_41.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c676848de06bdba4c92a29cc770583c3b1afebb3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_41.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_42.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa64f75ea28af470d9d97745e7db9897c99f7b0c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_42.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_43.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..227b0442298c512f6669fbed79f0071786ca751f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_44.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8331b723552fa1997314c8a5961872c5588b82
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_44.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_45.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acba38849d4b4a66d4527f71932559c345dc2fd6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_45.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_46.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b363bb6fabb692a0c01e3f9f284bcbf82b2df9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_46.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_47.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbeea072d4fd93a201320417a296c5ba8520b0d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_47.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v -0.01515276 0.00057929 -0.02126955
+v -0.01512918 0.00173464 -0.02126882
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+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_48.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a558658409b09d8f495660f084700af8dfff0a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_48.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.01215529 0.00980875 -0.00773141
+v -0.01806977 0.00980874 -0.00478987
+v -0.02063912 0.00000649 -0.00478991
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+v -0.02543612 0.00935490 -0.00478988
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+v -0.02694370 0.00000649 -0.00507902
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+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_49.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1084acc5e2a757f95b5e1e14ff85f88d3df07b96
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_49.obj
@@ -0,0 +1,10 @@
+# https://github.com/mikedh/trimesh
+v 0.00803722 -0.02006776 -0.00363791
+v 0.01487755 -0.01566148 -0.00363790
+v 0.01487755 -0.02006776 -0.00363791
+v 0.01487755 -0.02006778 0.00187107
+f 1 2 3
+f 1 3 4
+f 1 4 2
+f 2 4 3
+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_5.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6619db378b3a34b8e386e9650b9fd4075558b0fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_5.obj
@@ -0,0 +1,955 @@
+# https://github.com/mikedh/trimesh
+v -0.00000825 0.01762516 -0.01350866
+v -0.00058944 0.01762516 -0.01350700
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_50.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6375e286dd242b3bbe18b0fffb307852dbc31768
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_50.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_51.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb36999f39a331ca2e284f73287f397089cd3f36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_51.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_52.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7bc9266b8670c722bae270788275d312e920b90
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_52.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_53.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dbbc5ea570a6f6c84a21c1f553c1424620735a8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_53.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_54.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e49440d90504922fe891d6e9a31aa21266e881
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_54.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_55.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b45c56d292bc4d18ff7111b75f94a1aadedf6ff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_56.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67a5e9bd60ef234c15fd7e3e0a53b234c1105384
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_56.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_57.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b057cf293ce38003dfbb8bd961ee7bbc2d44a9c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_57.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_58.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0267871fe4c16c5bd2c5f732b1a7133b91711977
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_58.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+v -0.00000711 0.01568099 -0.00773139
+v -0.00000711 0.01762514 -0.00773139
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+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_59.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee8917ef720c77a0ec11be972b989c1a2a389eb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_59.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.01347729 -0.01358137 -0.00588620
+v 0.01347729 -0.01689791 -0.00363790
+v 0.01347729 -0.01358136 -0.00797489
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+v -0.00001511 -0.02006774 -0.00797491
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+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_6.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc20571a4ac1e389062ee713e06fddea6c459085
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_6.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v -0.01164910 0.02284596 0.00342123
+v -0.01164910 0.02816531 0.00342125
+v -0.00000825 0.02570419 0.00342124
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_60.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f24933ce8f820ea4c3d87fb77f96bef5bb4421
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_60.obj
@@ -0,0 +1,10 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_7.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeaf8a850ab6384cd3308497149081773d515132
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_7.obj
@@ -0,0 +1,943 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_8.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2294b478d2f04a323313422d3cc9f785b510d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_9.obj b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d70c0705547f23591c17c5d33cd96e33c139a557
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mesh/mouthwash_cup_018_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mouthwash_cup_018.xml b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mouthwash_cup_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bbd7c21b0c22919c3088e026b069ac30e746094c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mjcf/mouthwash_cup_018.xml
@@ -0,0 +1,136 @@
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+    <mesh name="collision_mesh_0_49" file="mesh/mouthwash_cup_018_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/mouthwash_cup_018_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_60" file="mesh/mouthwash_cup_018_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_018">
+      <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/7829bb238638555f89c87e97e889968f/mouthwash_cup_018.urdf b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mouthwash_cup_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0a3ef670775486b4893db8433f34fc735b260390
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mouthwash_cup_018.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_018">
+   <link name="mouthwash_cup_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>7829bb238638555f89c87e97e889968f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>floral rinse cup</name>
+         <color>white,blue</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>translucent white cup with blue floral pattern and small foot</description>
+         <min_height>0.0432</min_height>
+         <max_height>0.0432</max_height>
+         <real_height>0.0432</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154405</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035046 -0.034999 -0.021156</min>
+            <max>0.035027 0.035001 0.022006</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/7829bb238638555f89c87e97e889968f/mouthwash_cup_018.usd b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/mouthwash_cup_018.usd
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@@ -0,0 +1,3 @@
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+size 4963976
diff --git a/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/textures/material_0.png b/dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/textures/material_0.png
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