diff --git a/.gitattributes b/.gitattributes
index 3ab2797176dcc95fcf9a1f9eb4ee0f7bd974eb4e..fe4015653742877767bab3bbaef3ed39601f5700 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2529,5 +2529,5 @@ dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mo
 dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mouthwash_cup_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/72a59936e82f587da982dee098a3eb02/comb_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/72a59936e82f587da982dee098a3eb02/mesh/comb_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mouthwash_cup_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mouthwash_cup_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..69a193416a2d28a78e4354093500c1e604d3b249
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_016_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e56bafc59aa366e8b9610a6a1f513f1f11ef3e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/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/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.glb b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.glb
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.mtl b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a1ac9e7e9ad21a6b5eb6d2179d74beecc3121b2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.mtl
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+newmtl mouthwash_cup_016_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4875fa201dbaf04d5691a6aecf18680118a0784a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016_collision.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5299ae6bb181bfd1385353a50175fc1d265751a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016.obj
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b24329fb6e654c89465cc7029397ae7c174394c3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision.obj
@@ -0,0 +1,9736 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_0.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63e3ebe166ff1ccc100810b27b6ae4af17b0016c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_1.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdb380cb398f3c15b3751ac88c253a2906e73635
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_10.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c444540e42e01114143d6e4964e08fb9d54c13
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_11.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28dfd9d6599b759afbc2df19359ab857a79a0878
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_11.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_12.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dddb8542f4f13878f74a75a77796b2f61351e3f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_12.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_13.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e696d9ad8dfc455aee1f6090fd09b916511884fa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_13.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_14.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4041138f66e67aeba6151d3d6ad5040df1adbc4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_14.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_15.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4f302d779e134bb92fdfe277dd23774b963747d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_15.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_16.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..709ec80c147ad3571db1a6ad0b9d8d1e6da9486a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_16.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_17.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3866dd89a707d8c074adedfc7e48ddda33a45be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_17.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_18.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf5ccf380d5bc2c4c6a9a14b8ec578b266578997
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_18.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_19.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f294e54ea5009b14167c072dac7520b6b71f3814
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_19.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_2.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a201984994b4e95cd1af6956fbc64da3f7bb4179
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_2.obj
@@ -0,0 +1,1306 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_20.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910209a7a089a9b3d70092fd1da00e0dedb81525
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_20.obj
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_21.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4120406c7ca1731658bb2e1b9c6320063384542
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_21.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_22.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67c7310550a894b97e42e993bd4177c6bda3eff5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_22.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_23.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aec4a90885cde095efa9bebbf31e87196734f9cd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_23.obj
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_24.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4420ce1e71bd936914ff3937bdb4b656c0426984
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_24.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_25.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fae953b67e36fd3ad0f7b5efa595695ee3d980cf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_25.obj
@@ -0,0 +1,118 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_3.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26e1fa6d53ad6f128a31fbdb65d542f160bec3e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_3.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01150695 0.01740727 -0.04535946
+v 0.01211246 0.01623658 -0.04535946
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+
diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_4.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc00db01c3aee577243dfce199df198006a1d4c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_4.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+v 0.02082139 -0.01738393 -0.04510436
+v 0.01458733 -0.01738396 -0.03754428
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+
diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_5.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0248e80ed66e075fe6fdae47d02ce99b1defae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_5.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.00101984 0.02743114 -0.03754421
+v 0.00306745 0.02727709 -0.03754421
+v 0.00101984 0.02738895 -0.03905737
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+
diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_6.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d255285ff0d58a7df49800f11ea277d8ba03fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_6.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.02064683 -0.00499449 -0.04509842
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+v -0.02668518 -0.00499449 -0.04509842
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_7.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..612f4d0288006e0403ad772412e541159586c040
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_7.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_8.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc1f75f692270501db022d61364771ff3277f92e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_8.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_9.obj b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c11c6533f73a34761b29b0e8347dfea9fd933c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mouthwash_cup_016.xml b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mouthwash_cup_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ffce359bd4f6c0c948072b94b513de60d808706d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mouthwash_cup_016.xml
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_016_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_016_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mouthwash_cup_016_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_016_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_016_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mouthwash_cup_016_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mouthwash_cup_016_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mouthwash_cup_016_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mouthwash_cup_016_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mouthwash_cup_016_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mouthwash_cup_016_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mouthwash_cup_016_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_016">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mouthwash_cup_016.urdf b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mouthwash_cup_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd8f3435b0c89f7e0fcfb0f825dc31447f8df7e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mouthwash_cup_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_016">
+   <link name="mouthwash_cup_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>72844cec9bd25ea3b7c58c7d9cf10627</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>gray mouthwash cup</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tapered gray cylindrical cup with slightly flared rim and dark base</description>
+         <min_height>0.1259</min_height>
+         <max_height>0.1259</max_height>
+         <real_height>0.1259</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154307</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035122 -0.035020 -0.055180</min>
+            <max>0.035109 0.034980 0.070719</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mouthwash_cup_016.usd b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mouthwash_cup_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mouthwash_cup_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87fad2e99f3744db377d77699c3988cc0bea9de985e486f0656ae978ca3fb68
+size 4782650
diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/textures/material_0.png b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d41e173a350e4b47eb320d245962a57b2bc12f29b7bea826e7a034554a772ca
+size 7427614
diff --git a/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/video.mp4 b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9638312b89551ac6b8cbacb717925c7c7b84ec7a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fa96160ec1c16be7763b6bf08e3715baa85d6056e1dba9696d71d108bfd89b0
+size 126110