diff --git a/.gitattributes b/.gitattributes
index 029f1987296a84beaa8a64f6f334719f37a4b021..525213e43658ac4c24c7da999d1fc7e1e9bbe91b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2533,5 +2533,5 @@ dataset/bathroom_supplies/personal_care/71d1297941105026b1334386b6e382d2/mesh/to
 dataset/bathroom_supplies/personal_care/71d1297941105026b1334386b6e382d2/toothbrush_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/71ae55d4c0a15f4f950d96ea8d44c810/hair_clip_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/71ae55d4c0a15f4f950d96ea8d44c810/mesh/hair_clip_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/dental_floss_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/mesh/dental_floss_036.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
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bd54b97de2a27b5845acd023486aae93ca6bd26
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.glb b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.glb
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.mtl b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f7733c2ba4724f2a1c92a43660a16f692a88dd3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.mtl
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+newmtl mouthwash_cup_024_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6043b15d57075ced62dc21a0f2435b5812da7415
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.obj
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024_collision.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762730f30142c5696b36244119049d270e6485ed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024.obj
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeeffa59521ea2c36f64a476c45b51c81ce3f12e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_0.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..888ea647eee56f5b1667fa474657048a70254edd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_1.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e49018b22fd7b53e2155493cf6b64071214f942
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_10.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544fd2aae88d4bbaa38321e9e03fbfa363aa75c0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_10.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.03148927 0.00001057 0.01549672
+v -0.03148834 0.00067451 0.01549672
+v -0.02857611 0.00001057 0.01549672
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_11.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8c1c59beeac237883189a63ae3757655076b691
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_11.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_12.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c33e17da3db0c72be79ba5eaf42792a149df0d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_12.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_13.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..555f6637b5781367c3e7e377a12f14039f286f21
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_14.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eaf7d265f8a42c6b8b1f0564aa05b65d0fc6498
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_14.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_15.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea1c60fb80c8beae0eaa88ce7123842e845b51cf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_16.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6df1655ec29fdfdb7a3e2c290b4ef8ff4dd8f7e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_16.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_17.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b73a63bb7d6ba3d2de97e70733d6cdc349ec7969
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_18.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c55591023a65ee6d8197292be6c6a0ca6c006b77
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_18.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_19.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a96b7e2d648740a53aa98f5547f7695bd00f26c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_19.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_2.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcd7f8b11917104d4c86dacb210ccbf8b60e5380
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_2.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_20.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b45eab0be6ebe988da37d8ef7a958f7859d8f2bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_20.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_21.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d892db963dd7ae7584b08fc04e42c9d1973969
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_21.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_22.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14550427d42234d09252eecae9f25a8019c78531
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_22.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_23.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742a6400fb4558e3bb8c84d293e4082cbdcf31b0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_23.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_24.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a6bb9cbc4b486711c5c00c41a2f0250d52a685
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_24.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_25.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1521dc907d8de759491c1032f1f945eb566391
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_25.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_26.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecb5f203dd2bd916ac1176e14282116a0c204fe9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_26.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_27.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d245f6d01c50c9f1f1a82a190eae65fc2302606
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_27.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_28.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1095eef9d453b708f79bbd38189f5753dbc571fd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_28.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_29.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..955c37e3afeae488b1ac71671483e61915552bff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_29.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v -0.02713139 -0.00064321 -0.03049922
+v -0.02715261 -0.00196002 -0.02943080
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+v -0.02689606 -0.00064320 -0.03303397
+v -0.02683573 -0.00185957 -0.03303398
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+v -0.02207926 0.00000967 -0.03303397
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+
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_3.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d015e9df6352c41e49b546f2faef3f653f57f72a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_3.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.02658592 -0.01860301 0.02365025
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+v 0.02653300 -0.01868186 0.02365025
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+
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_30.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93980a2662ea8c89c51244c4411da1f70e1bbaa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_30.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02053105 0.00857719 -0.03303417
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_31.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e75b03bd916f13768d73624acb6be20e001ad48
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_31.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_32.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b46176d571821a8ea705a790320d81934d5d2a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_32.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_33.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adbc0844f7be95f412867bc7b8ebcb9c0d4cb0e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_33.obj
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_34.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da9e8ab38ecb4efaf02ef1629a09a41be0774b5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_34.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02721660 0.00001074 -0.02943085
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+v -0.02374097 0.00001074 -0.02943085
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+
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_35.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ae3b1b5a6777256996589b5c3cfc72911e5eea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_35.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_36.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2bcb43948362cd72ec000fa16f51ba8988e1e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_36.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01984125 0.01319170 -0.02943084
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_37.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa87790606d5aff8b7475b847bbac99c3660cb24
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_37.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_38.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d67583dd97c716d1bb107f35f98a8d0586a18bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_38.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_39.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a76fb5e802646432be8d280d1de5796b699b2f42
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_39.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_4.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a9e9b20445711e86e41203e1a28b0811a792c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_4.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_40.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e4e318c11177d469291af08dbb2301c201a3920
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_40.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_41.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c835a0c89eedf5ef3bcc457cc717da3d7748ac6b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_41.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03195471 0.00067379 0.01959448
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+v 0.03195369 0.00067379 0.01958008
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_42.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c036dba2af213c2a1485f088e73492a97177b8f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_42.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01116192 0.02928487 0.01561512
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+v 0.01116192 0.02616640 0.01561511
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_43.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a982c5d5a9514a4133a92dceb44568a518c467da
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_43.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.00001579 -0.02802706 0.01215205
+v -0.01485598 -0.02393137 0.01215206
+v 0.00001579 -0.03087807 0.01215204
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_44.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa42df0920bcbb90335f13742a2d5a4794197f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_44.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.02155665 0.01011020 -0.02943085
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_5.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975d96ecc5098a597dcc3edcf143ea97beed1936
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_5.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_6.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82f4d6eba40211353e63c37f089e40cf855952b4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_6.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_7.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9d993540d6ec6b74e75997e60767d0575abd87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_7.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_8.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec66ee8ec3a3639641c97c8f32779d6cbd0fab1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_8.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_9.obj b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..306ed79ea36d6a9b84d3329a10995e27fd1736bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mesh/mouthwash_cup_024_collision_9.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mouthwash_cup_024.xml b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mouthwash_cup_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eb5ad6f596b874ddc35b8031c99b1a6674c67da4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mjcf/mouthwash_cup_024.xml
@@ -0,0 +1,104 @@
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+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" 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/732a566c04015723879b2ab19da65695/mouthwash_cup_024.urdf b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mouthwash_cup_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ea4b4d84870a5995ec6f07e0e10784e6f1e5feab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mouthwash_cup_024.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_024">
+   <link name="mouthwash_cup_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0275" />
+         <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>732a566c04015723879b2ab19da65695</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>gray rinse cup</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>gray tapered plastic cup with ribbed upper walls</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611122519</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035726 -0.035399 -0.036856</min>
+            <max>0.035743 0.035430 0.043144</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mouthwash_cup_024.usd b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mouthwash_cup_024.usd
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+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mouthwash_cup_024.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878e84c40c2e2aa2b567d8377c1d25ce152268d0b185f19f59755e7e971cde43
+size 4734990
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/textures/material_0.png b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5633197
diff --git a/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/video.mp4 b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/video.mp4
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 119373