diff --git a/.gitattributes b/.gitattributes
index 70c01541337a1dd0c109b102d6ba436827d5ffc3..5b01799bf892746a90352261937ec32196123cc8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2599,5 +2599,5 @@ dataset/bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67/mesh/mo
 dataset/bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67/mouthwash_cup_021.usd filter=lfs diff=lfs merge=lfs -text
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 dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/comb_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ba77340e584e5b18816dbb06f36545f5/mesh/toothpaste_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ba77340e584e5b18816dbb06f36545f5/toothpaste_019.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5379633823be0cb723a642b1271966237780c09c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005.glb b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005.glb
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005.mtl b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47e7abfd03440997052055fa3e5807cdbd412a6b
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+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4290a1a866fe0fb2e937139090fb86188ff73f32
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005_collision.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..901cb4ff8ea9c5f121c74a9fc1b8b1714fdc6aa7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005_collision.obj
@@ -0,0 +1,16951 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mesh/mouthwash_cup_005_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005.obj
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+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1dc1d610be9d997b1e731aa051e80b49e3b7804
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision.obj
@@ -0,0 +1,16951 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_0.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06c8df755be8266de01af73639b870d3fa9bb44
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_0.obj
@@ -0,0 +1,706 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_1.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4a6cb3ba374debdb50dd9b7b00d1b151d2415f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_1.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_10.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed02096694216a26bbd5660c382647327076e95
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_11.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9640eba4d0042917b2d9f97832b2fc141bb6524c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_11.obj
@@ -0,0 +1,136 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_12.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30117f726bb4f666d4eec61c21ecbdfebaeb6dd9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_12.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_13.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d441b480a617292e1737423dcb3b2260ce38a13
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_13.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_14.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8247eda913ae6cdbb27e6c6ecc311bd4f2e39928
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_14.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_15.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c722c91b94b3c421c49a9fba1749fdcdbed1c9c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_15.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_16.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ff10aec28d6daf906e5bc7e1aeeaf9febfcaa70
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_16.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_17.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ec26265f301a6178318ea8f099cf6ac6254258
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_17.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_18.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49903f3e46e7c73b0fb62686df2dfb285c087857
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_18.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_19.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb4ad401ecee2c5806ed872743525eed29b9e9b7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_19.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_2.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3ee806beb7829e48007f28f91582384d1e8ae55
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_20.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a476a824785ce07d93d90ad11e20f2d5df4bb7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_20.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_21.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dbb9d0aa2df5a0698a557db2f4912ab3fcfe539
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_21.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_22.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c91b710df0577f5348edf2f935a20233b6038283
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_22.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
+v -0.03770758 -0.01786597 0.04619312
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_23.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90d855cd6f6c4dca10eb205f8ef9f6627b32d0e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_23.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_24.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d95d3bb839a08fc4d5ae87e9852f99dea6677a6e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_24.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_25.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0f98c6e23502df9ec6b4dac91cf366f8cd5d2e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_25.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_26.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f756135e9f7ed0c2fef872bb49171526553019
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_26.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_27.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fc7ea0617281b6f072fd9f12093565f2d1c1ab0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_27.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_28.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3418314be909433b5ef117f5d7815effd4ba442b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_28.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_29.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5674750029967644c7a3d9bf8060385f0bea5c1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_29.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_3.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81bde72f70b4fc46b62140e552cd84925a0851b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_30.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ffc882849587007227f9e750edc8522aac1af66
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_30.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_31.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..343be803acca084177ab76103e6edcefb55796d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_31.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_32.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9fdb7c0831a9dca58b0b655f1d6c6d95e54e781
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_32.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_33.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d75bb550084121d77c3cf775fc2f10dbd6c3ca1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_33.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_34.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47cacbc262f10f9d48fb60cc8fea040b4ecebd6f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_34.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_35.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0866788b1bf43135bddcf30d54e9c313aac143
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_35.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_36.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1edf8b579092c4a8c6bb9caf70834c535a99db33
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_36.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_37.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32a1690965973bdd9fb04b0ac2e8ddec7d728f59
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_37.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_38.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cfe01c632509497d25079a078155698c980a6ac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_38.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_39.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1f99f4ed851cae41685d4efadbe8716ae51ef14
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_39.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_4.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63cf9948dda33b75e131e11ad23ff3a118070e1c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_40.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8f2aeda12adc64744375608e15be50d484d4413
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_40.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_41.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b9835f08dbdab4b96e8a6c052dbf9449875b47
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_41.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_42.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..848ae332e58cf61a9dccf3113f0160e963644c60
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_42.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_43.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c1dd71c18bbe888fb363a2d7fb2ddf8a938157
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_43.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_5.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3282cfeb09c8910ba57a00456396b0dc7aa77f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_5.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_6.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df90cb6ffe1ea3bbd814ee1f1b0eecb23d23d3b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_6.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_7.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0dc55bb6e164329c46d29b0e877e0ddbf604f7b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_7.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_8.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d593ca035fa3c84b98f61a8c5e9cb104f9f8dd6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_9.obj b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mesh/mouthwash_cup_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434796145a514f791d93d2be2384731b2788682c
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diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mouthwash_cup_005.xml b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mouthwash_cup_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..505580b7c11644cce03628e64a85e46ec556b6d5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mjcf/mouthwash_cup_005.xml
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+      <geom type="mesh" mesh="collision_mesh_0_43" 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/bb39e338ff35574193a7a216485840ac/mouthwash_cup_005.urdf b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mouthwash_cup_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cacba8ea3d2be1023eb9acbb01b7a2d84f95c2f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mouthwash_cup_005.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_005">
+   <link name="mouthwash_cup_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_005.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_005_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>bb39e338ff35574193a7a216485840ac</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>geometric cup</name>
+         <color>dark gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>dark geometric cup with angular design and handle</description>
+         <min_height>0.1000</min_height>
+         <max_height>0.1000</max_height>
+         <real_height>0.1000</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414143907</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mouthwash_cup_005.usd b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mouthwash_cup_005.usd
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/mouthwash_cup_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:053ac44f63d1fc8775500603db4a4713775f165ed589c6051de2e199e2a5b86a
+size 4711136
diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/textures/material_0.png b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7951130
diff --git a/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/video.mp4 b/dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/video.mp4
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+size 140965