diff --git a/.gitattributes b/.gitattributes
index 7487dd560236a09bfa5eb5d18a9aa2df2f611e1e..153ec24554bd276e0a3dcd44928b63557ed98185 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2525,3 +2525,5 @@ dataset/bathroom_supplies/personal_care/56ee044d44375cde836bfad7c23f1c02/comb_03
 dataset/bathroom_supplies/personal_care/56ee044d44375cde836bfad7c23f1c02/mesh/comb_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/toothpaste_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mouthwash_cup_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c875a7a26d209ef77a6d71940e52852ef7bec92
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_015_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/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/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015.glb b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b6e261c4cd9d581a11d29ae1a3846ca9611c1dbb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015.mtl b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6611b4b73af62c124cde4665d062f88355a66341
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015.mtl
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+newmtl mouthwash_cup_015_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/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0ff4c0557569471757abe32af80218d54c4bec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015.obj
@@ -0,0 +1,103420 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015_collision.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215ce651c003b902dea089c59d3b98583dc48cbf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015_collision.obj
@@ -0,0 +1,14443 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mouthwash_cup_015_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45461ac76faa906cffe2464e4f1114eb60571e05
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision.obj
@@ -0,0 +1,14443 @@
+# https://github.com/mikedh/trimesh
+
+o mouthwash_cup_015_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_0.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c5f18ff1ea2e94e8760322bf3a52d95d2735c0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_0.obj
@@ -0,0 +1,1426 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_1.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d107e33cf02226910ef075580ada30eb8ab8411
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_10.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fb488b704ac3c63b166bd22022b1897f0874d89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_10.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_11.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8b797d72fcf4fb43a70488185a026ee3cae960f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_11.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_12.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5611af7b25bceb1d1e69ee38937e98d7735fd4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_12.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_13.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5758140479663b8a522049acc3e6925529100bf7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_13.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_14.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee03a472bd1c84bfeb00682edb12c04f39266dfb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_14.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_15.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff86994587b160384a15b3889f14a1aca73fd5f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_15.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00900766 -0.02552114 -0.04082941
+v -0.00900766 -0.02538016 -0.04310653
+v -0.00881555 -0.02558801 -0.04082941
+v -0.00900766 -0.02058646 -0.04082940
+v -0.00900766 -0.02531534 -0.04411459
+v -0.00819606 -0.02559315 -0.04411459
+v -0.00819606 -0.02580306 -0.04082941
+v -0.00856793 -0.01654382 -0.04862376
+v -0.00900766 -0.01651295 -0.04862376
+v -0.00000526 -0.02241484 -0.04082940
+v -0.00900766 -0.02524639 -0.04513258
+v -0.00629618 -0.02597384 -0.04603458
+v -0.00629618 -0.02610864 -0.04411460
+v -0.00900766 -0.02518260 -0.04603457
+v -0.00819606 -0.02545629 -0.04603457
+v -0.00629618 -0.02622697 -0.04219386
+v -0.00617898 -0.02634221 -0.04082942
+v -0.00000526 -0.01895148 -0.04862377
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+v -0.00126538 -0.02641112 -0.04862380
+v -0.00041854 -0.02667144 -0.04613989
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+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_16.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c4437c72cde2e048206d2b8b690d4add344e6f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_16.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02674424 -0.00023413 -0.04720730
+v -0.02664867 -0.00031123 -0.04862446
+v -0.02674299 -0.00097326 -0.04720730
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+v -0.02664741 -0.00097325 -0.04862446
+v -0.02664867 0.00004238 -0.04862446
+v -0.02659711 -0.00287291 -0.04720731
+v -0.02150023 0.00004237 -0.04720730
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+v -0.01963149 0.00004238 -0.04862446
+v -0.02644369 -0.00331026 -0.04862447
+v -0.02648141 -0.00371971 -0.04720731
+v -0.01706482 -0.01353570 -0.04720735
+v -0.01416363 -0.01263439 -0.04862451
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+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_17.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c46049d23d543ee96c18a441d1041660eb9ec7d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_17.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01975691 -0.01016985 -0.04082662
+v 0.02212251 -0.00002166 -0.04082658
+v 0.02487196 -0.01016985 -0.04082662
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+v 0.02638684 -0.00477192 -0.04082660
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+f 29 34 30
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+f 31 34 32
+f 31 33 34
+f 33 35 34
+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_18.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07d3f8d5186207ceb1d4b6b7ed3a1c6e4273da87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_18.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01149032 0.01928392 -0.04082767
+v -0.00000526 0.02244198 -0.04082766
+v 0.01149032 0.02455952 -0.04082765
+v 0.01149032 0.02199726 -0.00499990
+v -0.00000526 0.02487424 -0.00378947
+v -0.00000526 0.02706625 -0.04082764
+v 0.01121801 0.02467709 -0.04082765
+v 0.01149032 0.03114574 0.00728339
+v 0.01149032 0.02209320 -0.00380360
+v -0.00000526 0.02502694 -0.00186785
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+v -0.00000526 0.03308761 0.00728340
+v 0.00130454 0.03307815 0.00728340
+v 0.01054173 0.02496628 -0.04082765
+v 0.01114599 0.03127277 0.00728339
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+v 0.00934559 0.02541897 -0.04082765
+v 0.00890337 0.02558383 -0.04082765
+v 0.01149032 0.02229590 -0.00186786
+v -0.00000526 0.02512018 -0.00126970
+v 0.00185254 0.02699868 -0.04082764
+v 0.00174789 0.03305112 0.00728340
+v 0.00320396 0.03296194 0.00728340
+v -0.00000526 0.02792552 0.00728338
+v 0.01080392 0.03139574 0.00728340
+v 0.01149032 0.02328641 0.00197538
+v 0.00700394 0.02615950 -0.04082764
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+v 0.00609024 0.02638112 -0.04082764
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+v 0.00560075 0.03267815 0.00728340
+v 0.00562888 0.02649058 -0.04082764
+v 0.00467917 0.02667301 -0.04082764
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+f 36 42 37
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+f 37 43 41
+f 39 41 43
+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_19.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6203f03b4a0c65d79ee8bbf88da320af0e704028
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_19.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_2.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef62d58d369f66da9175a39faa593a477cccd2a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_2.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_20.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9955480515d708a4b4fd95d13c1431afd8e7781
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_20.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_21.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51538b89062357e893b8647fb01587574783924d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_21.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_22.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6111b4cd0de4a62fc9d408d3515b438e88115e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_22.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_23.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c979b5d2e32baba66d4137c329a579badc5f81
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_23.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_24.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ac15facd22556c9d247d8e954bebfc067a839d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_24.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_25.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff1e96d2b18176a807c389ee1a7b027a69b50789
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_25.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_26.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e5b554c2b2b407abf165e3e82c8eb80511c13ef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_26.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_27.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a374fae8a5f29ef67a2c92d87d00809db2659b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_27.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_28.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d580adc00ab5cfd593cf11ded925565c4676b64
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_28.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_29.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a521d642f6bb6aceb1fc406fb9671b50f1eba285
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_29.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_3.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad0fab5461c28da108a8389cde24ccf7554d51c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_3.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01072569 -0.02915671 0.05844082
+v 0.01072569 -0.02889151 0.05820235
+v 0.01032129 -0.02915671 0.05835636
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+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_30.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c002cadaf5cc682c0014fd80b48c05b6438ca071
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_30.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01483088 0.01152087 -0.04876111
+v -0.00000671 0.01819391 -0.04876108
+v -0.00000671 0.02140859 -0.04744599
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+v -0.01483088 0.02215432 -0.04876107
+v -0.00000671 0.02647356 -0.04876105
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+v -0.01348415 0.02308461 -0.04744599
+v -0.01341014 0.02304179 -0.04876107
+v -0.00059735 0.02660350 -0.04744597
+v -0.00164803 0.02645584 -0.04876105
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+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_31.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c469280558f53382da7ee86d8a4aef259208fd5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_31.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.01425591 -0.01618209 -0.04718300
+v 0.01425591 -0.01726258 -0.04082989
+v 0.01425591 -0.02240832 -0.04718302
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+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_32.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d48e06b626e195f3f6c4abf127281719b3c197c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_32.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.02686839 0.00092507 -0.04603803
+v -0.02673642 0.00282373 -0.04603802
+v -0.02664687 0.00092946 -0.04876101
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+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_33.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338a67111278dc8e7decad944e638d7bc60f7ec4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_33.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+v -0.01973566 0.01879297 -0.04082670
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+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_34.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d180cb211fdf674e82b074b737e7f1c5547531b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_34.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_35.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f8f75b38771954ea236cf410e7d4fb5f0292e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_35.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_36.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76e6ddc9f4364d2ea9c86ef1bc6b1bfd43191e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_36.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_37.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f35db9e02e2c990a2d71078950f861ff73fc3900
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_37.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_38.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a19ffaa822835166d94b890c17255888f9c846d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_38.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_39.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78de322c345b2cf168e7219a537ce25dc67c78ea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_39.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_4.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e483f6b44fc06e9194347c90aaac1520ab7786
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_4.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_40.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e56ef53e84a793d29944d5616a93660913414da
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_40.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_41.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcfcf990fb5bfad93e492d937c8ce416374edc85
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_41.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_42.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac5a8d7d92b5ece5c5f1fdf7976b03c14d38dbde
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_42.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_43.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c7d5d0b15896328e5fce6ff5cf78d8334ced26
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_43.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_44.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0c854d9f826391dd16ae914546e907a785fb1c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_44.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_45.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f74727c507066b2b38f9cc36ed2b36b99bd96f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_45.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_46.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1209a0876ddd4a9d006c08167a66e9b2c67239cb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_46.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_5.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e528a23f0d8ec61c68e4876e9128d4dc522a7343
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_5.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_6.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c89c7df39ea4a0e0c41e047342b4b7e1b7b4ef96
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_6.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_7.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1afb16682178912c41fe932e5e76653fcf58d9b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_7.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_8.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cd47fafba75e7cc98d536d32db71050af61b41a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_8.obj
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_9.obj b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5edc47b50adc7588c8cf4ee76dc53ecf91d64bf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mesh/mouthwash_cup_015_collision_9.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+v -0.00000526 -0.02643688 -0.04876352
+v 0.00015109 -0.02658940 -0.04718366
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diff --git a/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mouthwash_cup_015.xml b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mouthwash_cup_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..267e5c5c1c6bbe5571694f51b14918d7a73262cc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mjcf/mouthwash_cup_015.xml
@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_015">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mouthwash_cup_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_015_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_015_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_015_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_015_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_015_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mouthwash_cup_015_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_015_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_015_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mouthwash_cup_015_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mouthwash_cup_015_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mouthwash_cup_015_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mouthwash_cup_015_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mouthwash_cup_015_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mouthwash_cup_015_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mouthwash_cup_015_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mouthwash_cup_015_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mouthwash_cup_015_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mouthwash_cup_015_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mouthwash_cup_015_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mouthwash_cup_015_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mouthwash_cup_015_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mouthwash_cup_015_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mouthwash_cup_015_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mouthwash_cup_015_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mouthwash_cup_015_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mouthwash_cup_015_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mouthwash_cup_015_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mouthwash_cup_015_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mouthwash_cup_015_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mouthwash_cup_015_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mouthwash_cup_015_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mouthwash_cup_015_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mouthwash_cup_015_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mouthwash_cup_015_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mouthwash_cup_015_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mouthwash_cup_015_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_015">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" 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/7193edcf17305685abd50ae02f54803f/mouthwash_cup_015.urdf b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mouthwash_cup_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..efac9fb9cde9771ea078501319e23e4a4e8fe651
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mouthwash_cup_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_015">
+   <link name="mouthwash_cup_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>7193edcf17305685abd50ae02f54803f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>gray mouthwash cup</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tapered gray plastic cup with wider rim and dark base</description>
+         <min_height>0.1165</min_height>
+         <max_height>0.1165</max_height>
+         <real_height>0.1165</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154237</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035072 -0.035023 -0.057228</min>
+            <max>0.035795 0.034977 0.059281</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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>
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