diff --git a/.gitattributes b/.gitattributes
index ef2e470569a0920747ab3e66da34fff4df90355a..e4b648bb46ac206b806143d4dcb05fff1f5c1a45 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2557,3 +2557,5 @@ dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mesh/mo
 dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/mouthwash_cup_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/mesh/toothbrush_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/toothbrush_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mouthwash_cup_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e80f10ae7fc11fc433607aaffc2d5b60ea4ec189
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_033_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.glb b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.glb
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.mtl b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b099239a878db677caf1e7885dd2ce07e05309ea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.mtl
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+newmtl mouthwash_cup_033_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e841ada0ed430f7a4579abf45c6c167cbd1bcf19
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033.obj
@@ -0,0 +1,104590 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033_collision.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18b1274716533d4526cdd547cbd6204f18689275
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mouthwash_cup_033_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5a9bc57d71d8c6bede17a065eb2dae1c3685381
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision.obj
@@ -0,0 +1,17057 @@
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_0.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d18a51b0051e482c48e1b1ff146ac5bf07a6546b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_1.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f78fc8cac00ecd2b94d6f2413cab7f19acd4cca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_10.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6335a6883f338697126e1c53569c6468ff27cb6a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_10.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_11.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a63448cf45926fbf48e56091564ddb3d986b17f7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_11.obj
@@ -0,0 +1,130 @@
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_12.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a33ca7f58e9f4784c3cd0f98f216374f7a11e2c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_12.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_13.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6232dea485d7dacf1ad786a4f4caed433d92065f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_13.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_14.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78da091f618fa18f83e016a98192130fc634c690
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_14.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_15.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55245bcc9cf0b810c532e48862ff703ac2e5a2eb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_15.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_16.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2de3b3f7fe896a831b26e3b68bcb6fbadfd2a88
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_16.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_17.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ba4fa35665aaa51244460990117727d80a440e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_17.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_18.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3c943846c5eccb30babc66c2c899f5cc36a485a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_18.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_19.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7ffd44f04d0c1376f8a6388d281415fbbcf407
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_19.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_2.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4c045f2ee69436913c222d3c04b40ccca32dafa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_20.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6d6a34b96a08b2889adbade42280c0f921da60
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_20.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03932949 0.02026782 -0.02053395
+v 0.04509769 0.02026777 -0.00803364
+v 0.05439461 0.02026782 -0.02053395
+v 0.04418361 -0.00001405 -0.02053402
+v 0.04939194 -0.00001410 -0.00803371
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+v 0.05521918 0.02026777 -0.00818172
+v 0.05555434 0.01936437 -0.00803364
+v 0.05512777 0.01816319 -0.02053395
+v 0.05802996 -0.00001405 -0.02053402
+v 0.05878027 -0.00001410 -0.00803371
+v 0.05593330 0.01818300 -0.00803364
+v 0.05549150 0.01704337 -0.02053396
+v 0.05521156 0.01790905 -0.02053395
+v 0.05802806 0.00111967 -0.02053402
+v 0.05877836 0.00111962 -0.00803371
+v 0.05657125 0.01605057 -0.00803365
+v 0.05579048 0.01599503 -0.02053396
+v 0.05794046 0.00325210 -0.02053401
+v 0.05869838 0.00325205 -0.00803370
+v 0.05712160 0.01391616 -0.00803366
+v 0.05633892 0.01391621 -0.02053397
+v 0.05587236 0.01568727 -0.02053396
+v 0.05775955 0.00547784 -0.02053400
+v 0.05853842 0.00538646 -0.00803369
+v 0.05751008 0.01218282 -0.00803367
+v 0.05681310 0.01178378 -0.02053398
+v 0.05771194 0.00591862 -0.02053400
+v 0.05766433 0.00659169 -0.02010076
+v 0.05829466 0.00751888 -0.00803368
+v 0.05772527 0.01111263 -0.00803367
+v 0.05686452 0.01150780 -0.02053398
+v 0.05757864 0.00707815 -0.02053399
+v 0.05752913 0.00746135 -0.02053399
+v 0.05723776 0.00943295 -0.02053399
+v 0.05797855 0.00965329 -0.00803367
+v 0.05720349 0.00965136 -0.02053398
+f 1 2 6
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+
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_21.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd5b577ac04c350b8ff4e02fca456fb7c85aba44
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_21.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.05877849 -0.00001312 -0.00800339
+v -0.05795618 0.00002284 -0.02074171
+v -0.05795618 -0.00001307 -0.02074171
+v -0.04938262 -0.00001312 -0.00800339
+v -0.05877464 0.00111809 -0.00800339
+v -0.05795040 0.00111814 -0.02074171
+v -0.04393460 -0.00001307 -0.02074171
+v -0.03910668 0.02036464 -0.02074164
+v -0.04504962 0.02036459 -0.00800332
+v -0.05868990 0.00325282 -0.00800338
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+v -0.05518114 0.02036459 -0.00800332
+v -0.05868798 0.00327876 -0.00800338
+v -0.05853006 0.00538556 -0.00800337
+v -0.05770005 0.00538561 -0.02074169
+v -0.05431646 0.02036464 -0.02069301
+v -0.05433187 0.02031676 -0.02074164
+v -0.05548926 0.01951269 -0.00800332
+v -0.05828934 0.00751830 -0.00800336
+v -0.05756332 0.00672630 -0.02074169
+v -0.05769427 0.00544347 -0.02074169
+v -0.05511759 0.01804636 -0.02074164
+v -0.05592641 0.01818397 -0.00800332
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+v -0.05741889 0.00783756 -0.02074168
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+v -0.05765576 0.01135682 -0.00800335
+v -0.05674487 0.01178382 -0.02074167
+v -0.05744392 0.01241022 -0.00800334
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+
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_22.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f08552adb153d21735742abae0043bb178a4ddcd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_22.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.04397801 -0.00001506 -0.02069372
+v -0.04050025 -0.01807381 -0.02069379
+v -0.05795881 -0.00001506 -0.02069372
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+f 35 37 38
+
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_23.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..969ce1eb14a700f657c89a4d1dfaa8e8f88dcbe6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_23.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02196792 -0.03963193 -0.01988978
+v 0.02196792 -0.04474693 -0.00805606
+v 0.02196792 -0.05394631 -0.01988983
+v 0.00006961 -0.04530250 -0.01988980
+v 0.00006961 -0.04970422 -0.00805608
+v 0.02196792 -0.05470843 -0.00805610
+v 0.02032169 -0.05457700 -0.01988983
+v 0.00006961 -0.05811523 -0.01988984
+v 0.00006961 -0.05880790 -0.00805612
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+v 0.01855113 -0.05518891 -0.01988983
+v 0.00112637 -0.05811523 -0.01988984
+v 0.00112637 -0.05880603 -0.00805612
+v 0.01818673 -0.05604677 -0.00805611
+v 0.01748366 -0.05552866 -0.01988983
+v 0.00204809 -0.05808145 -0.01988984
+v 0.00323346 -0.05873282 -0.00805612
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+v 0.01271001 -0.05676939 -0.01988984
+v 0.00746694 -0.05766474 -0.01988984
+v 0.00749909 -0.05835929 -0.00805611
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+v 0.00965762 -0.05805521 -0.00805611
+v 0.00961475 -0.05736441 -0.01988984
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+
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_24.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c17e44f5ed53eb02eba29b547a55b6099e0d9344
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_24.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v -0.03420660 0.03595445 -0.00800326
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+
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_25.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa65ed29d88c036e2280516c375902bda895e31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_25.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_26.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9067996f3aaaabb6ef6213454c4e6dc298be5530
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_26.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_27.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdcf21a737c9f2ef0fae61098eb82b15645fa769
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_27.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_28.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2facdb683c63e48395a622374898670d40e4bf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_28.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_29.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..683efdef9a7b7e884bc3485cd301adaa5baa38f8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_29.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_3.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4c2b25cd512d49b6febd118b6aa96c0bba776a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_30.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..341c982f6114c1a2adcdbe04aa24ff0103943f75
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_30.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_31.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3bba6078d655a7e28d41d9b0c58015883443564
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_31.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_32.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23cfe381261a7349c1b3d5a48faf234a6242ad5e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_32.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_33.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0005da52cbe110343c938cb22341d60afe11016e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_33.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_34.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019f5bf8661b69953836fd36ebdcef81d3660538
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_34.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_35.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e49c36fd80bb9c0c0fd9c893293624fa84aa98
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_35.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_36.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b5c7896c07d17af50967781294a2248381e27e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_36.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_37.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..449647051b40338a52d3856957c87c21bdb0dec9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_37.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_38.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a241697830686dda3d95dab250ce504b811d91
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_38.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_39.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8b45f1f9fe5ec4de58a79b4e78e19228ec674f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_39.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_4.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1193ef565153de966b7fd4e71865a367f14db6e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_4.obj
@@ -0,0 +1,1402 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_40.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6540ec2352cb5501a9886d2da2f0a781dc78e8ab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_40.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_41.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad6dc63e46f21afc2cd7ccf6e05d30ba4dec969
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_41.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_5.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f9bdf1856055bd1a6075c865fcd9aced989ddf2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_6.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd16c9d1ee95f691905f70491f9fed20c103d467
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_6.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_7.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0282c7ce242d04d0868d18e85737946d5ef292
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_7.obj
@@ -0,0 +1,703 @@
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_8.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e155e68b9fc0dc7ac6947849fc0b713fecb22a3b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_9.obj b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mesh/mouthwash_cup_033_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mouthwash_cup_033.xml b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mjcf/mouthwash_cup_033.xml
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index 0000000000000000000000000000000000000000..4803882262d8d9007134de1ad59e5d2e09c9a48f
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+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mouthwash_cup_033.urdf b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mouthwash_cup_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e3ad207f0b958138032cc91f0a866a6eb86bd892
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mouthwash_cup_033.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_033">
+   <link name="mouthwash_cup_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>956101a9c7da53c793c0e9a7fee8c271</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>smoky tumbler</name>
+         <color>gray,transparent</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>translucent smoky gray tapered cup with thick rounded base</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611122939</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.064636 -0.064571 -0.043328</min>
+            <max>0.064756 0.064675 0.076672</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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/956101a9c7da53c793c0e9a7fee8c271/mouthwash_cup_033.usd b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mouthwash_cup_033.usd
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+++ b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mouthwash_cup_033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60b62a734d2b5754fbdf0742ea469f8e526098c672875521c3e353d34a92baf5
+size 4377440
diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/textures/material_0.png b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/video.mp4 b/dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/video.mp4
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