diff --git a/.gitattributes b/.gitattributes
index 2e27f09d94afe72ecf300eedc63549b397c6fd2e..cd2e4677eb9b2b545bfd90d3e55048da12ba9baf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2553,5 +2553,5 @@ dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/dental_
 dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/mesh/dental_floss_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/mesh/toothpaste_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/toothpaste_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/mesh/toothbrush_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/toothbrush_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mouthwash_cup_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b3ad740ea2450fad2098ca2a992758ba52277569
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_003_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9d21d844ca354dbd175e47fad197d20d047e36e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/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/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.glb b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..df820505b339cf1c7ef3deba1a9d7550e764cf2a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.glb
@@ -0,0 +1,3 @@
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+size 11965108
diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.mtl b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..927813024ae42faa9b1aa244cfbd7b95fdfb6a09
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.mtl
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+newmtl mouthwash_cup_003_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..708d200cef5d5455fdf1ebb0013d67b83b66ccdc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003.obj
@@ -0,0 +1,106052 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_003_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003_collision.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5baa0e9b1a5d5dc4becc8454d41ef9188bc54484
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9d21d844ca354dbd175e47fad197d20d047e36e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mouthwash_cup_003_geometry_Looks_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/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9d21d844ca354dbd175e47fad197d20d047e36e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2ad6bfaaf7ff0cbe9e6b6185888abc1cd1dd0e8f88994a15faf7c2c635e8949
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c25d70dcd1c2214c3f13861cd3716715d6edfc28
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_003_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca661012a1552271ef4228f583904b097e40887b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision.obj
@@ -0,0 +1,34208 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_0.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..212d3bdc01e51ee28423cade7f8ed25ee83f508d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_1.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dbe45e4e815ed747ee203651e9d2edab51221c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_10.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5d182d076aabeaf3bdd1e342db00d39762c6606
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_11.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0291e650ba0ee71933980031f229208e043db01f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_11.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_12.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90593fc28948ace582818def687424775b4abb52
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_12.obj
@@ -0,0 +1,976 @@
+# https://github.com/mikedh/trimesh
+v 0.06221329 -0.04132557 0.05647378
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_13.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31be3440fb25215e3d801a1b746b69682bb6b80b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_13.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_14.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c33d08c6f143873f0755ecbc0ecb1dab5ab077c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_14.obj
@@ -0,0 +1,835 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_15.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7e4c1fa1293a1ac75c5f791720a27f28b8cbafa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_15.obj
@@ -0,0 +1,166 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_16.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d8911ba2bc1d2c4af881a1993e336d316bc19d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_16.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_17.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bfa9857c9f708ee37808c0c55a7ed2144cd22f6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_17.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_18.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39212350c9adb76606f7037f5e2fd35935094976
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_18.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_19.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4564114a058fcb99695e4ae64af1a6513d541b5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_19.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_2.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975e0c8a6450893068041f3f5bb9cc9e3c83a853
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_2.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_20.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61b5c51a8d73ff63943561bf8d86e61eff03791
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_20.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_21.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dade57479c18aea34ccc46ed58649dc292a6a44f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_21.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_22.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7c61666acd8516c7e3722f0fd5d240a7c4f28c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_22.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_23.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d41d6438473414a92def92cea6362a97ca1960c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_23.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_24.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27b67a459130fa9ef913917197d15aca1077ad44
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_24.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_25.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68bd1bbe9b5baa96c211717a6deb877785b5f246
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_25.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.04745860 0.02252152 -0.02887570
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+v -0.04988374 0.02346802 0.01263686
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+
diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_26.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1293d4870b4ff18296bc19e2c2ec6d2d3c09a56
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_26.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_27.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f195a61eb1c46ea408c7bac854002b9fa093968c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_27.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
+v 0.02378593 -0.06559338 0.07071580
+v 0.02032131 -0.06634399 0.07073676
+v 0.02303626 -0.06634399 0.07072179
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_28.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcfcd89a0d3c26205eb9de93052b0ac9ee779c29
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_28.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_29.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a18f5960b054098488724a241fdd58d67d91bbe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_29.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_3.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdf38e5bdb5e1beeda10cdda8f42cef796ca7201
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_30.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..125f367e7c668cde4a373305c8060762bec13efc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_30.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_31.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34494bd96cc20fe841fa8a8015692b008e2c6e44
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_31.obj
@@ -0,0 +1,1234 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_32.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70409629efbd1e1dfa62d6cd28acb11464c09524
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_32.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.04694976 -0.02284881 0.01263554
+v 0.05702098 -0.02284881 0.01263554
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+
diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_33.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b317cd28f3f3b8e13cdbfa3bb4e8183cd524c08
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_33.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_34.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc34e5ea686e6b1030c4c1c8e4f8d68a79f81d6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_34.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_35.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c11512ff0bc13b9d8c56632163e0894822074e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_35.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_36.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5e5428a2e2b4b59cc62e7c038861e06b8eb60d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_36.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_37.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dfc497f118d2a8d6151bea1e468567098b75885
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_37.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_38.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..054c1e6e5aa43e040b1a70650bf4de44ec9bbf97
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_38.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_39.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6dfbfe422a5fecf70871290da774d8f128c45d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_39.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_4.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbb85a02cb48082fe731768db17e909f70a7abf5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_40.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be5806df1db268a3a3114151559967b6901c881f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_40.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_41.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b115e7b953487c9fcd42dcced64290e94cfbf51c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_41.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_42.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c554c209a241477107483a0f0835f7768b6a714
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_42.obj
@@ -0,0 +1,1759 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_43.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e72bbab07891f361784edf5bb8d1b9a51753997
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_43.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_44.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ac836a5e800a55070e2cc9856b7845ee0f99c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_44.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_45.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f5b7bb6bf38f93ff42189713aeaf58789d0ed8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_45.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01637711 0.04954589 0.01263580
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_46.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1786fc58cddcc85e6cb169ea21d403bfe88c8c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_46.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_47.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e859b36a5de36a7135e8cd393161822c4ee189b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_47.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_48.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85186266420035658f9757e4a5b07c3d8f86fecb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_48.obj
@@ -0,0 +1,148 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_49.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59ff00d378c4d78b608d9809efc6223f83d155ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_49.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_5.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a80513d0bf3463300545814ee646921bdc8c2a48
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_5.obj
@@ -0,0 +1,1030 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_50.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9eca44cf0335419123f9517bab1e1dd911e16e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_50.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_51.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e31a301b5568ba9a5e0ef63c81e62c011ee8010d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_51.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_52.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ca053899f20b7c48764bc2532553ac7d4dee41d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_52.obj
@@ -0,0 +1,1096 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_53.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..050199514df1d61267bfb976ea70757941644d82
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_53.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_54.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e6287c5a41ba98e64c73ddfb4e96aeb7684515
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_54.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_55.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51142cc345339b6271e2592f0a706d42c9a94354
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_55.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_56.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07bb7189f45f0a56f46bf66fa2d71e434cc1ab74
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_56.obj
@@ -0,0 +1,934 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_6.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..854e8f098ffadf4d83d7676eb06b12ad219b7719
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_6.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_7.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6628111d05eb3139a0ea52c37e4fa318901896da
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_7.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_8.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ac57bd644f98580eabbb1a857181a78966f7f0f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_8.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_9.obj b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a809e866d512c102010c2bb3ae65b5a1e04f3986
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mesh/mouthwash_cup_003_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mouthwash_cup_003.xml b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mouthwash_cup_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..71c6876f1c962abf3e7cb631de0d339532221638
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mjcf/mouthwash_cup_003.xml
@@ -0,0 +1,128 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mouthwash_cup_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mouthwash_cup_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mouthwash_cup_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mouthwash_cup_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mouthwash_cup_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mouthwash_cup_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mouthwash_cup_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mouthwash_cup_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mouthwash_cup_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mouthwash_cup_003_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mouthwash_cup_003_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mouthwash_cup_003_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mouthwash_cup_003_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mouthwash_cup_003_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mouthwash_cup_003_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_003_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mouthwash_cup_003_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mouthwash_cup_003_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mouthwash_cup_003_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_39" file="mesh/mouthwash_cup_003_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mouthwash_cup_003_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_42" file="mesh/mouthwash_cup_003_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mouthwash_cup_003_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mouthwash_cup_003_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mouthwash_cup_003_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mouthwash_cup_003_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/mouthwash_cup_003_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/mouthwash_cup_003_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/mouthwash_cup_003_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/mouthwash_cup_003_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/mouthwash_cup_003_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/mouthwash_cup_003_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/mouthwash_cup_003_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/mouthwash_cup_003_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/mouthwash_cup_003_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/mouthwash_cup_003_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mouthwash_cup_003.urdf b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mouthwash_cup_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a3610b24e9655ad5f5d7ceb82757f7726c9ce05c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mouthwash_cup_003.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_003">
+   <link name="mouthwash_cup_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>8a21d4e5a912596ca1f22ee50c854747</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>patterned cup</name>
+         <color>orange</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>orange cup with geometric patterns and a handle</description>
+         <min_height>0.1500</min_height>
+         <max_height>0.1500</max_height>
+         <real_height>0.1500</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414143454</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/8a21d4e5a912596ca1f22ee50c854747/mouthwash_cup_003.usd b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mouthwash_cup_003.usd
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+++ b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mouthwash_cup_003.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4872208
diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/textures/material_0.png b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/video.mp4 b/dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/video.mp4
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+version https://git-lfs.github.com/spec/v1
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