diff --git a/.gitattributes b/.gitattributes
index 3a37c9b314ec2f79f6adade1427721f571bcda5f..49693cdcc9a1bdd0e28ec0bde150c4e4e8a2696d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2525,5 +2525,5 @@ dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mesh/mo
 dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/mouthwash_cup_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/mesh/razor_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/razor_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/mesh/nail_clipper_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/nail_clipper_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mouthwash_cup_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..124cc585c17dd7a20d0d2913e1304a144d47e8e0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026.glb b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026.glb
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+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026.glb
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026.mtl b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d5f1d01652d61caee1c57c488d2ebd55414e6551
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026.mtl
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+newmtl mouthwash_cup_026_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d525820e9a2d71ec60d7d30599469598193eb173
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026.obj
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+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026_collision.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e81d15989843389eff797bbb671457e3028b0c
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+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mesh/mouthwash_cup_026_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8687054
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf5d4dc3ed053a58f0a01ea19c1f0420f6192882
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+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b896083baede7f73a9172ed25ba9103ccd2206
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573af031137a3e7bdb1dcc21030b70ac203e60de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision.obj
@@ -0,0 +1,23292 @@
+# https://github.com/mikedh/trimesh
+
+o mouthwash_cup_026_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_0.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c23bdd014a7e41482705d09979df08086c7c86a9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_0.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_1.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1914180956b1582346e885ab0872c8c3c04b33
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_1.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_10.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d45424ef5b83e8bad7dcb0ad08aef135f6a2954
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_10.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_11.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9897b2096cd109d2d99a0bc888a55262144140
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_11.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_12.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b9ae934d939ebfd042d3adaaea3f49affa81dfd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_12.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_13.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1ded5ae6ecca2fc742176c0082cfc4dd4235977
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_14.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186e08fc8693d48b0c025f31a37a3ae240e16f3d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_14.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_15.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41fe123e44457f6fd4ab6ec3233b41a33431226b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_15.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_16.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fcd1ed1fd70f9e1b6db66a67d0680d8c40b4b12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_16.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_17.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..608d7f45d5a1c21799a09c1fd3d588dc202a9d55
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_17.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_18.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c40d54071af7dabf352f3038cf17c2c1f9b81ec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_18.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_19.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c6abe68f096d3adf907dd9996ac26df7f130edc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_19.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_2.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63cbc096d964550c82349d3611ecad034c145596
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_2.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_20.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77134eae8a867185864fa92bc52c3c3914c4b18
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_20.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_21.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004a3a1d9d2b51eba7f538495aecd1d3d54ad91e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_21.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_22.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..504b95e4b1d08f2007996be4eb72412787661155
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_22.obj
@@ -0,0 +1,310 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_23.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de6abbe76c0ea08cee73a750b31351894fa9e8b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_23.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_24.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..027b516aa70ae92e08f6ab3446d0f51d3ab6142c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_24.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00000862 -0.01863635 -0.01444202
+v 0.00000862 -0.01840647 -0.01539100
+v 0.00050467 -0.01840647 -0.01539100
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_25.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b31e6c79b105213a6074d051333bae2df539e89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_25.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00802851 0.00382537 -0.01871849
+v -0.00802851 0.01126436 -0.01691094
+v -0.00802851 0.01431626 -0.01871845
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+v -0.00802851 0.01451909 -0.01851002
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+v -0.00759428 0.01459566 -0.01871845
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+v -0.00659210 0.01652861 -0.01691092
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+v -0.00802851 0.01582742 -0.01705689
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_26.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bd68ebc7e9397bf2df25935accddf2dd4b7d444
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_26.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.00049337 0.01425788 -0.02339026
+v 0.00000784 0.01425788 -0.02339026
+v 0.00074866 0.01424088 -0.02339026
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_27.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d523f4bc613df2acc2b1a7414b7aee06d109399
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_27.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_28.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a868e834eb0c0ede8de4b686c5f713ab1cb1d159
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_28.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_29.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c06b82ced757f317844368010688304d4e476d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_29.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_3.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c0ac9e0d8ed7732daf55e74990ccc538b90b76d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_3.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_30.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e11ce2750a40f0aec3d03f53b1009ee26ab0b65
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_30.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_31.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5d1efb4cc8e718fa9ae50af23a4c60b2850627e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_31.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_32.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33cccba101f87df3d04edd22e9d4efc93ad9a62a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_32.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_33.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3f2741184519c3341f2760d61cee3982e8f05dd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_33.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_34.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..720950a19762ed1d4f6a38076db48639e98c5b51
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_34.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_35.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f79c9caece79e3ba23e8d6449e43c3903ca4960
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_35.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_36.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dad61f81c42357cd7881fa53c589cfe27c920fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_36.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_37.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1654014fcf06b35dca9076bc2e17f73f3130ddaa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_37.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+v 0.00739553 -0.01937688 0.02529583
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_38.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef040baa64570b4646911034a35fe32ea88ccf4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_38.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+v -0.00901824 -0.02374419 0.02971265
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_39.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88a59a76748ce8ea7b114db426bda5c4d5ce9f19
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_39.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v -0.02532975 -0.00002210 0.02908519
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+v -0.02532908 0.00046535 0.02908519
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_4.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cdaf400a4daa52de0ea8f1c28a80b9d8c0cec37
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_4.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_40.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb206a4da1b3c91b34bded12d13d00e67edfa24a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_40.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_41.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad1b6ba1f37d8257598494ef5347d27cc2cdcc94
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_41.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_42.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a19d4296abc3a36976637f8b22b514d6f716f88d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_42.obj
@@ -0,0 +1,253 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_43.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76fdc3f366791fe423bcc6a74ae8842e795f7b70
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_43.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.02013736 0.00933417 0.01213762
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_44.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..881e86f5b64bfc22c4f195d2647883a5c051082f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_44.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+v -0.01830623 -0.00741165 0.01511410
+v -0.02191345 -0.00741168 0.02460496
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_45.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac216e0eaefdf2ef91af50e97f266a87ce694c3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_45.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.01268614 0.01337668 -0.00317364
+v -0.01268614 0.01699481 -0.00317363
+v -0.00683081 0.01703340 -0.00317363
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_46.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc160d93328319e042e12e5be7d54ebf306cd047
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_46.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
+v -0.01943241 0.00781400 -0.00452409
+v -0.01924359 0.00828591 -0.00452409
+v -0.01701485 0.00781400 -0.00452409
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+v -0.01268614 0.01503532 0.01213765
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_47.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b101ebdb1e1a339c30fc428d46e7582a8ce50ff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_47.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_48.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1053ec396a0d015a4641ed595382fae66d87d3e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_48.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_49.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8918e444f3d40e022d6de731f87b689c6fe26a13
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_49.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_5.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffd9df5a74c8a04d690125539ad0e851bca970ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_5.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_50.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10288c0b2010b279e42b383eb84522a6f8ae2f74
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_50.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_51.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4478822bb8b400bc52e4050acf0e6313d6980a94
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_51.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_52.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed68132fc476835ed78a8fec5b6bea5753de29b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_52.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_53.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..063f30f3a4eabc757448342770bbac07a0ce150d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_53.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_54.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdc7426b24bb5e29e0399ca442deb8236db5f448
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_54.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_55.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ce164a11482298fe411ee8c43c5977c0724cec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_55.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_56.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eaae91182849ee691ec25707ec26f59b38bcd22
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_56.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_57.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f126b1dc761cb2258029d8f3603f600d849e52c8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_57.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_58.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7115301fb869348437c7729a4724d16bdee5f56e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_58.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_59.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6942a9bf39cc33e19069a4d33104ecdd13a1cfad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_59.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_6.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c52894f92e504f40186e6e8799456f7498667648
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_6.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_60.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d922a5c0824f532e0a4b6e8b328fd6431a28f7b7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_60.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_61.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eaf289754432db3b44af525fb4e2bf16975085d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_61.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_62.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e66d56ba9aee4198dd6b355c822c683c8505e19
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_62.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_63.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67a804549e8eef5141a822f0c0d5434e78755c95
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_63.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_64.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23dd99352a06d61b1147faf8bfcb0cb43069dfd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_64.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_65.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797cadcc4cb23d64c7909394f5c11eeef130a35a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_65.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_66.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a27f241394018b6d43d5d05836c5e91f60d829
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_66.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_67.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca06020620d9dfe26fd2cf167e39aeaac923a165
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_67.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_68.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095d53b6646c25e3d56e71402a4da6655cc8505e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_68.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_69.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d3b6a343231544ed792eb3b6354a1b271c7c38
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_69.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_7.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6936ab6b086fb62f4e03ecd101a5ba1c5db87821
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_7.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_70.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b08dd59023754c1957d68b0d96baa465f24d9817
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_70.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_71.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2074cde8ed21c843aa8a54fbd03caacc75e414b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_71.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_72.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e2d9e42f20aa1d971dffcf0fd83db46b119f4e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_72.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_73.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1513adf016226414f424bd6c06e7aceae4719eb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_73.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_74.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa5c98e59ee58084c5b24d0c54d02cfacc42c49
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_74.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_75.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a91b60d7933707bc5f3b284349de065805dd11ca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_75.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_76.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c4f674ff72ecc5dfa69134de3ed9940d66eec5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_76.obj
@@ -0,0 +1,142 @@
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_77.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be5c99b2bdf1ebaaf17445171dde7a8aadf8abba
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_77.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_78.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d22ee405875cf241a9ca5147d632f3c168d90f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_78.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_8.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ebf4c5b53c278c657d149f9667929ec48d3c446
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_8.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_9.obj b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ce6824a4652c2b9cb0fdfda60b34c9d70c4c06
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mesh/mouthwash_cup_026_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mouthwash_cup_026.xml b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mouthwash_cup_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3c6e550c3070388ea84e14dd1540c27dfce66105
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mjcf/mouthwash_cup_026.xml
@@ -0,0 +1,172 @@
+<?xml version='1.0' encoding='utf-8'?>
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mouthwash_cup_026.urdf b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mouthwash_cup_026.urdf
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+++ b/dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/mouthwash_cup_026.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_026">
+   <link name="mouthwash_cup_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
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+            <mu2>0.45</mu2>
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+      </collision>
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+         <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>
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+         <uuid>6b336d8bb31355439cdb79efc6131bbd</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>blue mouthwash cup</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>translucent blue plastic cup with flared rim and pedestal base</description>
+         <min_height>0.0600</min_height>
+         <max_height>0.0600</max_height>
+         <real_height>0.0600</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611122617</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025201 -0.025380 -0.029072</min>
+            <max>0.025225 0.025324 0.030928</max>
+         </aabb>
+         <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
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