diff --git a/.gitattributes b/.gitattributes
index cf6550a458ce46ecf4c19cfc23d85abb6bc23f83..a1ec175b2ee110ea47477dc7d1f33ff793551a72 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2567,3 +2567,5 @@ dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/mesh/to
 dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/toothpaste_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/mesh/nail_clipper_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/nail_clipper_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mouthwash_cup_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c0d805b319de044c2c251e4e630ceff28b4a9fd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_010_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c8b381e57ca2229f5abc8352fcba702ed871e8b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ed77e36f600275a548ecf20a6b30275a19e69e31351e33b7d058a804ab5482
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010.glb b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..47227bd7d1923ff6245f3f2e0fc07c9406b2dcf6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87c343e22aa2fc4bb4fb60867bf4c4587376ffdea5b356b658ee73cb6ade15bc
+size 12589808
diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010.mtl b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a363183c62e92a516645874f16d18f07d46c1954
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010.mtl
@@ -0,0 +1,6 @@
+newmtl mouthwash_cup_010_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e5a84b450d16884c7075b4377605c564ef295b2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010.obj
@@ -0,0 +1,103054 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010_collision.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a8c6e352f1541efc18b01259919152eb01a3d74
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c8b381e57ca2229f5abc8352fcba702ed871e8b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mesh/mouthwash_cup_010_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9326074
diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c8b381e57ca2229f5abc8352fcba702ed871e8b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:57ed77e36f600275a548ecf20a6b30275a19e69e31351e33b7d058a804ab5482
+size 9326074
diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010.obj
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index 0000000000000000000000000000000000000000..c97d9f73af6ea27fb2003f72efaea9222d012cfd
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+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..403a2b2c986fb50a92d6fdc329d05c37130f7815
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision.obj
@@ -0,0 +1,56410 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_0.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c80c0e6779519bc4ca341300a28f49d3c092b5a2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_1.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..900e10dff090ddee3c860845715773673e2095af
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_1.obj
@@ -0,0 +1,1573 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_10.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bbc400d4c2d521f247fd330a10584d13c82cd16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_11.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2574bbd07180b2eecc1e916192d38cc914bf6af0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_11.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_12.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d7ccd29cfb6ba98d67a44f60a36bda3b44bfe68
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_12.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_13.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec970abe155e011d5e263a131770d1b0d6903768
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_13.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_14.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..929eb4e2b04819ec8ea5b16d96d5c957d3c7b779
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_14.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_15.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5369de1516b076310aa721eebefa8dd40e75fcfa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_15.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_16.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40dbeb62c9afcdea3bc5d47ac022021b9a6c7e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_16.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_17.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..927a8b5ae3f7d2c60c7c65f9d5d0299f67286f5d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_17.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_18.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f08b4a47f53f71822a015302d4b02e37aff40cd8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_18.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_19.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..205dd83e6053d6f8d4e27493449b15cc2ac695ce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_19.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_2.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f0197cb83a3d2f522204677b13458df38ba8ab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_20.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d78a17356a901346aa6a85a2200cf8df3a2b14e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_20.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_21.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc754ba9e79a2ac955fb6da441219a2b533e5ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_21.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_22.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccb9d780b93445518c53de416fdcb20d6cd8cff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_22.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_23.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d93b5314ba4d07ae7a9824373a59bc16ba0e02e5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_23.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_24.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e68dd58c8e7ea07bd92df6a39a40d46055f52c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_24.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_25.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca57f0f48a84e83cc0a3f32c1e5d4d54a6bee750
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_25.obj
@@ -0,0 +1,865 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_26.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6af125133f2a9f47c02e81f3dc07d2f9c182466
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_26.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_27.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db68499f63149a8bc7dff5f33a27fe5a857e4e1e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_27.obj
@@ -0,0 +1,859 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_28.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccf77dd5d957e7196c10947aac4aab70e173081c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_28.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_29.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db41c59478e1308e0fa8b2c74ea8f152a484aa22
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_29.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_3.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba005b85326ba892bf960bdd28361d8c541739f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_3.obj
@@ -0,0 +1,1552 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_30.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69aecb556480911f91a78514ddbd7071b0da02e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_30.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_31.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c47a312e670f682202b8959055c1d2dc76069d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_31.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_32.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd7d5166d1e6d1b423009c6f6b148b430b7d9ce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_32.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_33.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f2ad74555971427cd8e0563891a1f708adf353
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_33.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_34.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246e59960a5d3bf9f8a186d0635ccbed7e51f64c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_34.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_35.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc53257f1a29a18f8795bbd8b435ca9e37356c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_35.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_36.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d01e5579507b809d235187489f0b24bd4720d03
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_36.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_37.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6a5b6da664a0039d32717d8048cf2693e72c331
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_37.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_38.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e49702a8bc379adea7129b1298961dad822d40
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_38.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_39.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28216f51bd29be005cef6de574c18932137db25f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_39.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_4.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb6515ee5b725db327ba0cfd76f1d04f4bc3fe2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_40.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a208870402c168cd324ee6e42d7eb99d76cd522
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_40.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_41.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75efe6dc0937a145452cbd199674674e3b4a3592
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_41.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_42.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b26128959bd12d19f9d524e65e2e4f0a795bd0ec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_42.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_43.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f1bc0900f17cf53183b91dfe7145593174593d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_43.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_44.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8db7fb51274891a549bc7aa45a9aad0b6a3df78
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_44.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_45.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c9891a67f0a5d96d3e918812e16b9e332c5dced
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_45.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+v 0.05597377 0.00011946 -0.03138238
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_46.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4242b68fa70d17eb53ecb9795234f821c4de6896
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_46.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_47.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc43683235487290658d2aa0c29157fbf482cbd8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_47.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_48.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c262d78c28d36c8f7fc3b21dac295e503464f225
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_48.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_49.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cab55c245042087379d28b977fe41ef85d7e25a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_49.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_5.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25fb95db9e53e27eb435e22e4aa0f7b274b18613
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_5.obj
@@ -0,0 +1,751 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_50.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6618cf2b5b3004f02aa733b737b188c3d404e36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_50.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_51.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a39a5e913e20985a7e10f65ab1be5e5ae012b332
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_51.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_52.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f57fcc34121e4b5c4cc6e82e5bb7f847e0017feb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_52.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_53.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e2a362d951b2d6c580f7aee51c7c1b2e52639f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_53.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_54.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fbe116c65b6dd7dc0efb1c2e5e74cd3a300c34
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_54.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_55.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81015b3459a514a2feedf07669dc287f9ae72636
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_55.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_56.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5310b21fba5ab10f7c05eddd9103ab31a6dd6e2b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_56.obj
@@ -0,0 +1,436 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_57.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91239bd0f5d9524a9360107c6875f17547d14cc4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_57.obj
@@ -0,0 +1,952 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_58.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84119aa242517568dcf9b800a2fb761baa71968c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_58.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_6.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64f3c5961838778f72c249aa27396c71d6ed0da1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_7.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cafcf6b6defba8e92378cc2e7d787c6399a27a3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_8.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e42c8f6b4572e5f6567efa8d1023d51753ceed2f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_9.obj b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd9c2528b679b5791a7b1c518291e1645aa81605
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mesh/mouthwash_cup_010_collision_9.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mouthwash_cup_010.xml b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mouthwash_cup_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..058ef32311947d6f20c10c73a4c575484a01c3c0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mjcf/mouthwash_cup_010.xml
@@ -0,0 +1,132 @@
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mouthwash_cup_010.urdf b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mouthwash_cup_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5f2014bc550925d191a3bd986c7d9a5dce529aa2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mouthwash_cup_010.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_010">
+   <link name="mouthwash_cup_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>9be919c44b3b55438c9b722cfac9a717</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>wooden cup</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>smooth wooden cup with rounded edges</description>
+         <min_height>0.1000</min_height>
+         <max_height>0.1000</max_height>
+         <real_height>0.1000</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414144400</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mouthwash_cup_010.usd b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/mouthwash_cup_010.usd
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/textures/material_0.png b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/video.mp4 b/dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/video.mp4
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