diff --git a/.gitattributes b/.gitattributes
index 2b12b9fc219448ca4cb41b20979f3bdcd1438363..83ff75402fad01d6d2ded6081949bebcfd738cc2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2475,3 +2475,5 @@ dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/dental_
 dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/mesh/dental_floss_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mesh/mouthwash_cup_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/mouthwash_cup_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/hair_clip_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/hair_clip_017.urdf b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/hair_clip_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2097041957aa7db268594f9df2a7c2ebf3a22da4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/hair_clip_017.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hair_clip_017">
+   <link name="hair_clip_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hair_clip_017.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/hair_clip_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>16fd04e5e9fe5d96a93a4fa67596f2fe</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>hair_clip</category>
+         <name>pearl barrette</name>
+         <color>beige,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>curved beige barrette with pearl-like beads along both sides</description>
+         <min_height>0.0455</min_height>
+         <max_height>0.0455</max_height>
+         <real_height>0.0455</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518153750</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074117 -0.022789 -0.024348</min>
+            <max>0.078354 0.023211 0.021128</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/hair_clip_017.usd b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/hair_clip_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..aac6e4c870cfa3720144f3cf558e85c0fa549da2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/hair_clip_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3cb265226fb22822fc3b3e5f9d9b719739fa81139cbf0963f1f00bd5017f830
+size 4997150
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017.glb b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..76394de026896f001bbf6d875a390854991eb3c3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ccfdca9249db16d49de3a48c70963d0dcce1052ec0f749697ef0ba5263ab19
+size 15783064
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017.mtl b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e08059cf4575eb24e4e068ad05b961583db6feaf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017.mtl
@@ -0,0 +1,6 @@
+newmtl hair_clip_017_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/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b4a8cb8b6f297c9870fc182754397b987aefe0f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017.obj
@@ -0,0 +1,119368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hair_clip_017_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017_collision.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0e230370bbd4ad89fb909199d54563d07979d79
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4edee0357d06749d7c701ceb251cb88b1f7e0a3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/hair_clip_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c6012832c06c3116925515b7cfe280b05542fd1ac5ca713f0111c35fbb18f3a
+size 12232430
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd790e379434b216422522d0cf394d12109aeb42
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hair_clip_017_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd hair_clip_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4edee0357d06749d7c701ceb251cb88b1f7e0a3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c6012832c06c3116925515b7cfe280b05542fd1ac5ca713f0111c35fbb18f3a
+size 12232430
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/hair_clip_017.xml b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/hair_clip_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3b883e4251444a0a357c820590e2dc77bca47420
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/hair_clip_017.xml
@@ -0,0 +1,104 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hair_clip_017">
+  <asset>
+    <material name="material_0" texture="texture_0_hair_clip_017_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hair_clip_017_geometry_Looks_material_0" type="2d" file="mesh/hair_clip_017_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hair_clip_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hair_clip_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hair_clip_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hair_clip_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hair_clip_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/hair_clip_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/hair_clip_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/hair_clip_017_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/hair_clip_017_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/hair_clip_017_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/hair_clip_017_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/hair_clip_017_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/hair_clip_017_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/hair_clip_017_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/hair_clip_017_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/hair_clip_017_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/hair_clip_017_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/hair_clip_017_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/hair_clip_017_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/hair_clip_017_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/hair_clip_017_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/hair_clip_017_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/hair_clip_017_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/hair_clip_017_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/hair_clip_017_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/hair_clip_017_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/hair_clip_017_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/hair_clip_017_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/hair_clip_017_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/hair_clip_017_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/hair_clip_017_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/hair_clip_017_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/hair_clip_017_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/hair_clip_017_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/hair_clip_017_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/hair_clip_017_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/hair_clip_017_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/hair_clip_017_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/hair_clip_017_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/hair_clip_017_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/hair_clip_017_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/hair_clip_017_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/hair_clip_017_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/hair_clip_017_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/hair_clip_017_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/hair_clip_017_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hair_clip_017">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940e53aab2e5244794905e764c79550405fdefe2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017.obj
@@ -0,0 +1,119368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hair_clip_017_geometry_Looks_material_0
+v 0.077429 0.000199 -0.022375
+v 0.077424 0.001932 -0.022294
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a2dd67ffa6197c00474c37559e65b45d2fef6c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision.obj
@@ -0,0 +1,10028 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_0.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb6c1731b21d187574f51b8242ac66fc2466d152
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_0.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00032299 0.00853429 0.01691602
+v -0.00097917 0.00853429 0.01734514
+v 0.00032299 0.00399104 0.01168347
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_1.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8d5f798dbc5ad8f9ee96d4532664184d8b95387
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_1.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03160705 0.00936939 0.01481660
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_10.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f227aa52cbb8eda36f4480393076a6f6b2f14640
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_10.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_11.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c5d5f3b853eef32b9d3ef78c672fc5922181f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_11.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00032161 -0.01318661 0.02116841
+v -0.01379168 -0.01260236 0.02102476
+v -0.01379168 -0.01318661 0.02108462
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+v 0.00032161 -0.01153570 0.02081647
+v -0.01379168 -0.01088272 0.02069675
+v -0.00168727 -0.01562033 0.02101517
+v -0.01379168 -0.01562033 0.02084757
+v 0.00032161 -0.01562033 0.02102714
+v 0.00032161 -0.01111183 0.02072548
+v -0.01379168 -0.01008208 0.02044775
+v -0.01379168 -0.01704339 0.02048125
+v -0.00168727 -0.01724960 0.02057702
+v 0.00032161 -0.01725978 0.02058420
+v 0.00032161 -0.01014572 0.02029930
+v 0.00032161 -0.00989496 0.02018677
+v -0.01348358 -0.00976131 0.02027296
+v -0.01379168 -0.00929671 0.02000721
+v -0.01379168 -0.01776001 0.02000478
+v -0.00168727 -0.01846645 0.01984915
+v 0.00032161 -0.01847663 0.01985393
+v 0.00032161 -0.00921525 0.01964328
+v -0.01379168 -0.00921525 0.01994017
+v -0.01379168 -0.01972404 0.01841497
+v -0.00168727 -0.01994934 0.01863285
+v 0.00032161 -0.01878212 0.01960493
+v 0.00032161 -0.00921520 0.00511718
+v -0.01379168 -0.00921520 0.00497113
+v -0.01379168 -0.02058321 0.01711247
+v -0.00168727 -0.02116619 0.01695445
+v 0.00032161 -0.02117001 0.01696403
+v 0.00032161 -0.02020391 0.01829286
+v 0.00032161 -0.01995316 0.01863764
+v 0.00032161 -0.01082281 -0.00032503
+v -0.01379168 -0.01128612 -0.00233383
+v -0.01379168 -0.02089761 0.01661446
+v -0.00168727 -0.02180899 0.01573816
+v 0.00032161 -0.02181281 0.01574534
+v 0.00032161 -0.01190346 -0.00157485
+v -0.01379168 -0.01318652 -0.00328677
+v -0.01379168 -0.02146149 0.01550591
+v -0.01379168 -0.02163206 0.01514677
+v -0.01379168 -0.02189299 0.01408371
+v -0.00168727 -0.02213228 0.01428004
+v 0.00032161 -0.02187899 0.01544605
+v 0.00032161 -0.01318652 -0.00168739
+v -0.01379168 -0.01562024 -0.00308327
+v 0.00032161 -0.01449120 -0.00166345
+v 0.00032161 -0.01485906 -0.00165148
+v -0.01379168 -0.02194135 0.01188336
+v -0.00168727 -0.02221628 0.01184745
+v 0.00032161 -0.02215392 0.01377963
+v 0.00032161 -0.02213610 0.01428004
+v -0.01379168 -0.01596773 -0.00293243
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+v -0.01379168 -0.02194135 0.01173252
+v 0.00032161 -0.02221756 0.01184745
+v -0.01379168 -0.02134180 0.00454489
+v -0.00168727 -0.02161547 0.00664707
+v -0.01379168 -0.01739079 -0.00213034
+v 0.00032161 -0.01729534 -0.00029872
+v 0.00032161 -0.02161547 0.00664468
+v -0.01379168 -0.02058444 0.00263665
+v -0.01180767 -0.02132526 0.00454489
+v -0.01379168 -0.01863058 -0.00045914
+v 0.00032161 -0.01758046 -0.00004732
+v 0.00032161 -0.02007147 0.00253850
+v 0.00032161 -0.02153146 0.00621131
+v 0.00032161 -0.02120052 0.00454489
+v -0.01379168 -0.02030186 0.00206922
+v -0.01379168 -0.01958777 0.00094391
+v 0.00032161 -0.02096758 0.00413068
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+f 70 71 73
+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_12.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a9c74806d5fe5ac9a956d159fcdd149f0fabcae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_12.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01663738 -0.00884394 0.01782084
+v 0.01663738 -0.00746158 0.01643567
+v 0.01602575 -0.00884394 0.01816342
+v 0.01663738 -0.00884388 0.00401800
+v 0.01663738 -0.00693706 0.01576116
+v 0.01602575 -0.00685217 0.01589947
+v 0.01602575 -0.00779935 0.01711655
+v 0.01349619 -0.00761527 0.01732720
+v 0.01365429 -0.00884394 0.01847407
+v 0.00032459 -0.00505246 0.00039230
+v 0.01663738 -0.00295257 -0.00190994
+v 0.00032459 -0.00884389 0.00524998
+v 0.01663738 -0.00210819 0.00836718
+v 0.01349619 -0.00672260 0.01611013
+v 0.00032459 -0.00682447 0.01735486
+v 0.00150154 -0.00720960 0.01776127
+v 0.00032459 -0.00766086 0.01842726
+v 0.01349619 -0.00883232 0.01848258
+v 0.01349619 -0.00884394 0.01848896
+v 0.00032459 -0.00471291 0.00018590
+v 0.00032459 -0.00344940 -0.00056519
+v 0.01663738 -0.00101531 -0.00237804
+v 0.00032459 -0.00884394 0.01934858
+v 0.01602575 -0.00207959 0.00841187
+v 0.01663738 0.00028481 0.00269669
+v 0.01594910 0.00028481 0.00287755
+v 0.01119340 0.00028481 0.00400740
+v 0.00590591 -0.00243167 0.01012260
+v 0.00337635 -0.00234142 0.01023749
+v 0.00084519 -0.00228691 0.01036303
+v 0.00032459 -0.00228155 0.01038218
+v 0.00077812 -0.00884394 0.01935497
+v 0.00073341 -0.00813891 0.01879111
+v 0.00032459 -0.00101532 -0.00108861
+v 0.01663738 0.00028483 -0.00238230
+v 0.01349619 -0.00201704 0.00854805
+v 0.00843707 0.00028480 0.00423932
+v 0.00590591 0.00028480 0.00423719
+v 0.00337635 0.00028480 0.00418400
+v 0.00219621 0.00028480 0.00414783
+v 0.00084519 0.00028480 0.00410314
+v 0.00060246 0.00028480 0.00409463
+v 0.00032459 0.00028480 0.00408400
+v 0.00032459 -0.00051403 -0.00108861
+v 0.00032459 0.00028482 -0.00108648
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+f 31 42 43
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+f 35 44 45
+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_13.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2449926f001e33c06938f5806ad9585d7aa1aeac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_13.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01699078 0.00936938 0.01694061
+v 0.01674931 0.00936938 0.01738983
+v 0.01699078 0.00892565 0.01656390
+v 0.01699078 0.00936943 0.00385676
+v 0.01573123 0.00936937 0.01777660
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+v 0.01680642 0.00768869 0.01513365
+v 0.01699078 0.00774294 0.01509537
+v 0.01699078 0.00427668 -0.00136067
+v 0.00032462 0.00553676 0.00032945
+v 0.00032462 0.00936942 0.00530918
+v 0.01511941 0.00936937 0.01791761
+v 0.01511941 0.00740235 0.01566143
+v 0.01699078 0.00260041 0.00824220
+v 0.01699078 0.00352260 -0.00195494
+v 0.00032462 0.00385340 -0.00062339
+v 0.00032462 0.00936937 0.01802236
+v 0.01349603 0.00936937 0.01811906
+v 0.01349603 0.00830583 0.01693456
+v 0.01349603 0.00736678 0.01571784
+v 0.00337560 0.00405433 0.01162849
+v 0.00590611 0.00293031 0.00981750
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+v 0.01699078 0.00264402 -0.00221078
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+v 0.00084509 0.00399653 0.01167885
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+v 0.01349603 0.00249370 0.00842753
+v 0.00843663 0.00028569 0.00423948
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+v 0.00032462 0.00141951 -0.00108470
+v 0.01699078 0.00098734 -0.00245856
+v 0.00032462 0.00374042 0.01129006
+v 0.00084509 0.00277914 0.00976915
+v 0.00590611 0.00028569 0.00423746
+v 0.00032462 0.00277469 0.00977318
+v 0.00032462 0.00028569 0.00408437
+v 0.00337560 0.00028569 0.00418509
+v 0.00084509 0.00028569 0.00410451
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_14.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99c4919d7d73562a02bbba83dd579927c9b9e2f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_14.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.03160848 0.00936944 -0.00102011
+v 0.02776744 0.00936944 0.00018821
+v 0.02867900 0.00938361 -0.00519247
+v 0.03160848 0.00944020 -0.00763434
+v 0.03160848 0.00936939 0.01481672
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+v 0.02867900 0.00962795 -0.00678674
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+v 0.03071961 0.00936938 0.01524556
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+v 0.02258365 0.01719724 -0.00393619
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+v 0.03160848 0.01920081 -0.00343166
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_15.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d64965231f50e9055a6f9daa708baeabb72f5d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_15.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_16.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4e49846c7ae88e0148922e71727962193dd1c52
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_16.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_17.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac8225315745c1766e317a69cba0a33b577aa2b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_17.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_18.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95567e8e2d9848376b235733fa9b1f606cf3c0ea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_18.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_19.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4351634399518d9432dcc1d241fca7b50ffe0edf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_19.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_2.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb42afc98facae3f2ef583c9cf7d27bb81f53b7b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_2.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_20.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3afe00d3515f4ea697076c59eecd972f2f1ba375
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_20.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_21.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e19035d4929bdab2aac46f574b89033cd443b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_21.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_22.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f77e1e9f33b470c6b65b01231d5d95c184df101
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_22.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_23.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7e2551482d4a3d1581e18fae5ebcf76d1a5816
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_23.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_24.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc9d3c1d8ce84947927613b2f6d79bcbafae007b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_24.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_25.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60c95d6d8014e70bbb00d13fdd61b2a78db7dc5a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_25.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_26.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87cc8f3a3343727ce1b7705cb73d6c0e42d3f2b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_26.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_27.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..444edfbf9f37f796b5ad70eff4645f11a23ce7c1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_27.obj
@@ -0,0 +1,676 @@
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_28.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0cd25a66977d149fb5c2f1185e8287209dc4979
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_28.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02452010 0.02119690 0.00150601
+v -0.02192915 0.02108702 0.00150601
+v -0.02590994 0.02048217 -0.00034927
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_29.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328fe54fe059c1e03801aa699665e65f7d1bb8dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_29.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.05905893 0.00028301 -0.01013341
+v 0.05905893 -0.01830787 -0.01013348
+v 0.05905893 0.00028303 -0.01638687
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_3.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c72a359a4d732088ab660e27fd347dd9dc7422
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_3.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.03859952 0.00028698 -0.01039377
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_30.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9630190a1b37f044f07b1f0e6971af9c61a1259b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_30.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.05489940 0.01953195 -0.00911903
+v 0.05398384 0.01949239 -0.00911903
+v 0.05651339 0.01952818 -0.00911903
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+v 0.05276142 0.01939630 -0.00911903
+v 0.05398384 0.01926066 -0.01006423
+v 0.05733569 0.01942268 -0.00911903
+v 0.05904864 0.01914385 -0.00911903
+v 0.05904864 0.01903836 -0.01250225
+v 0.05904864 0.01808318 -0.01509470
+v 0.05651339 0.01877272 -0.01249787
+v 0.05177538 0.01924747 -0.00911903
+v 0.05177538 0.01892531 -0.01006423
+v 0.05904864 0.00028485 -0.00911910
+v 0.05892761 0.01805680 -0.01510237
+v 0.05904864 0.01804361 -0.01518123
+v 0.05177538 0.00028485 -0.00911910
+v 0.05177538 0.01877271 -0.01038842
+v 0.05904864 0.00028488 -0.01637950
+v 0.05904864 0.01797014 -0.01531375
+v 0.05651339 0.01779114 -0.01441017
+v 0.05177538 0.00028489 -0.01879123
+v 0.05177538 0.01782693 -0.01196448
+v 0.05363143 0.00028489 -0.01896428
+v 0.05398384 0.00872151 -0.02030812
+v 0.05603994 0.00872151 -0.01929611
+v 0.05904864 0.00871773 -0.01745391
+v 0.05800634 0.01681335 -0.01602677
+v 0.05177538 0.01094842 -0.01942972
+v 0.05177538 0.01216549 -0.01835419
+v 0.05904864 0.01624626 -0.01668830
+v 0.05481824 0.01748028 -0.01395237
+v 0.05177538 0.01313952 -0.01729179
+v 0.05205162 0.00028489 -0.01896428
+v 0.05177538 0.00872151 -0.02021064
+v 0.05177538 0.01764041 -0.01218135
+v 0.05177538 0.01065263 -0.01953487
+v 0.05398384 0.01104450 -0.01947682
+v 0.05904864 0.01601453 -0.01679344
+v 0.05904864 0.01586381 -0.01682301
+v 0.05904864 0.01358415 -0.01712750
+v 0.05904864 0.01115000 -0.01736190
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+f 1 3 4
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+f 25 40 26
+f 25 34 35
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 28 31 29
+f 29 31 38
+f 31 39 38
+f 32 33 36
+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_31.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db60a7f44dc9af2a473837b1afae22c053e2722c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_31.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.02658079 -0.01114055 -0.00459206
+v -0.02658079 -0.01114054 -0.00829992
+v -0.02644619 -0.01114055 -0.00464738
+v -0.02658079 -0.00658567 -0.00488376
+v -0.02658079 -0.01064118 -0.00831615
+v -0.02582528 -0.01114054 -0.00752066
+v -0.02519185 -0.01114055 -0.00516480
+v -0.02547899 -0.00658567 -0.00536504
+v -0.02658079 -0.00658566 -0.00835928
+v -0.02658079 -0.00976016 -0.00833274
+v -0.02538967 -0.01114054 -0.00702537
+v -0.02613811 -0.00658566 -0.00790234
+v -0.02522081 -0.00658567 -0.00574895
+v -0.02635319 -0.00658566 -0.00812435
+v -0.02560475 -0.00658567 -0.00674986
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 13
+f 4 13 15
+f 4 15 12
+f 4 12 14
+f 4 14 9
+f 4 7 8
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+f 6 10 12
+f 6 12 11
+f 7 11 13
+f 7 13 8
+f 9 14 10
+f 10 14 12
+f 11 12 15
+f 11 15 13
+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_32.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2da0505c8cac4c8ce577539054c793b695aef517
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_32.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.01161309 0.00853433 0.00526911
+v -0.01180713 0.00853433 0.00528219
+v -0.01183808 0.00853723 0.00527892
+v -0.01183808 0.01335764 0.00398675
+v 0.00032180 0.01215653 0.00398674
+v 0.00032180 0.00853433 0.00539669
+v -0.01183808 0.00853433 0.00564695
+v -0.01183808 0.02166098 0.00398678
+v 0.00032180 0.02134619 0.00398678
+v 0.00032180 0.00853429 0.01691682
+v -0.01183808 0.00853429 0.01562300
+v -0.01183808 0.02188726 0.00440551
+v -0.01180236 0.02166098 0.00398678
+v -0.00927635 0.02160876 0.00398678
+v 0.00032180 0.02168418 0.00451674
+v 0.00032180 0.00932487 0.01796693
+v -0.00097930 0.00853429 0.01734537
+v -0.00424217 0.00853429 0.01706076
+v -0.00421717 0.00950474 0.01834314
+v -0.01183808 0.00912469 0.01610716
+v -0.01180713 0.02188726 0.00440551
+v -0.01183808 0.02213677 0.00562246
+v -0.00927635 0.02186551 0.00443986
+v 0.00032180 0.02211501 0.00573369
+v 0.00032180 0.00957582 0.01827772
+v -0.00168639 0.00853429 0.01754002
+v -0.00168639 0.00932342 0.01851652
+v -0.00309701 0.01229283 0.02040412
+v -0.00405171 0.01135138 0.01960590
+v -0.01183808 0.01132093 0.01706077
+v -0.01180713 0.02213677 0.00562246
+v -0.00168639 0.02288383 0.00941398
+v -0.01183808 0.02213677 0.00622276
+v -0.00421717 0.02308981 0.01184788
+v -0.00168639 0.02335382 0.01184789
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+v -0.00168639 0.02248778 0.01617918
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+v -0.01183808 0.01842460 0.01682854
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_33.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..591095d415a3f09b89de84621f5e100bc60b0b91
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_33.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.04858705 0.00009489 -0.01077322
+v -0.05730307 0.00009489 -0.01077322
+v -0.04858705 -0.00179736 -0.01077323
+v -0.04858705 0.00009492 -0.01909233
+v -0.05730307 -0.00582528 -0.01077324
+v -0.05730307 0.00009491 -0.01731183
+v -0.05107685 -0.00582528 -0.01077324
+v -0.04858705 -0.00582527 -0.01342474
+v -0.04858705 -0.00582525 -0.01924730
+v -0.04976540 0.00009492 -0.01970608
+v -0.05730307 -0.00582526 -0.01766025
+v -0.05378424 0.00009493 -0.02111893
+v -0.04976540 -0.00582525 -0.01980333
+v -0.05076712 0.00009492 -0.02015576
+v -0.05377485 -0.00582524 -0.02111895
+v -0.05322962 0.00009493 -0.02111893
+v -0.04981830 -0.00582525 -0.01982662
+v -0.05196510 0.00009493 -0.02069254
+v -0.05321511 -0.00582524 -0.02111895
+v -0.05254190 0.00009493 -0.02088801
+v -0.05198045 -0.00582524 -0.02072092
+v -0.05195059 -0.00582524 -0.02070978
+f 1 2 5
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+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 14
+f 1 14 18
+f 1 18 20
+f 1 20 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
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+f 2 11 5
+f 3 7 8
+f 4 9 10
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+f 5 15 19
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+f 5 17 13
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+f 13 17 18
+f 13 18 14
+f 16 20 21
+f 16 21 19
+f 17 22 18
+f 18 22 21
+f 18 21 20
+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_34.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f1b9f369009af51f7c4fcaa5a17987583a6dde8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_34.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.05232253 0.01051704 -0.02140792
+v -0.05167265 0.01051704 -0.02128459
+v -0.05322857 0.00009551 -0.02111913
+v -0.05378272 0.00009551 -0.02111913
+v -0.05404967 0.01051704 -0.02134994
+v -0.05089065 0.01051704 -0.02108958
+v -0.05093784 0.00976412 -0.02106638
+v -0.05196254 0.00009551 -0.02069221
+v -0.05724375 0.00009549 -0.01732959
+v -0.05724375 0.00141975 -0.01772171
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+v -0.05724375 0.00385297 -0.01788932
+v -0.05724375 0.01051703 -0.01777333
+v -0.04347241 0.01051702 -0.01718408
+v -0.04347241 0.00995896 -0.01717460
+v -0.04347241 0.00867859 -0.01708817
+v -0.04347241 0.00009549 -0.01643781
+v -0.04387420 0.00009549 -0.01664652
+v -0.04976619 0.00009550 -0.01970556
+v -0.05076526 0.00009550 -0.02015567
+v -0.05724375 0.00009547 -0.01063913
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+v -0.04347241 0.00009547 -0.01063913
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+v -0.04347241 0.00760428 -0.01119567
+v -0.04347241 0.00629942 -0.01063911
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_35.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abac9068426db89f6dfaf98e064a4293ef0e0d07
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_35.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_36.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1a0e6fe0b406779a61b17af2ec24b224acb0b5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_36.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_37.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7042b8f4ae85e2efd098fdeeb4f22e2a1f224ba4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_37.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_38.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..162fea706a8c416409544aba036fb5aa380c1b5d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_38.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_39.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e73f88e28c6e856dc603fa41a428c4c8b3eed7dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_39.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_4.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..331e3dc1ac4439ac255ca1fad114808e105cc750
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_4.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_40.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f42be8709b16e8cc3069167a56acbe9a058d13f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_40.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_41.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd09b0f892d54a263c76819e0446f5426361af4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_41.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.02658079 -0.01220807 -0.00370101
+v -0.02658079 -0.00791856 -0.00560200
+v -0.02683705 -0.00791856 -0.00548972
+v -0.02895319 -0.00791856 -0.00505394
+v -0.02952106 -0.00791856 -0.00498835
+v -0.03649752 -0.01278024 -0.00370102
+v -0.02658079 -0.01827279 -0.00370104
+v -0.02658079 -0.00791855 -0.00825340
+v -0.03198568 -0.00791856 -0.00579433
+v -0.03451049 -0.00791855 -0.00722619
+v -0.03582482 -0.00791855 -0.00797659
+v -0.03649752 -0.00791855 -0.00838235
+v -0.03649752 -0.01967845 -0.00370104
+v -0.03603061 -0.01962894 -0.00370104
+v -0.03458135 -0.01736673 -0.00967084
+v -0.02952106 -0.01743121 -0.00725401
+v -0.02658079 -0.01718371 -0.00647249
+v -0.02658079 -0.00832033 -0.00829342
+v -0.02736803 -0.00831802 -0.00951740
+v -0.02737774 -0.00791855 -0.00949183
+v -0.03649752 -0.00791853 -0.01466788
+v -0.03649752 -0.01958404 -0.00397341
+v -0.03649752 -0.01735867 -0.01016777
+v -0.03593063 -0.01675197 -0.01122721
+v -0.03257587 -0.01713995 -0.00918836
+v -0.02699139 -0.01713766 -0.00672707
+v -0.02658079 -0.01706513 -0.00664814
+v -0.02658079 -0.00976052 -0.00833345
+v -0.02658079 -0.01064237 -0.00831677
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+v -0.03390768 -0.00791853 -0.01339388
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+v -0.03649752 -0.01620744 -0.01174638
+v -0.03649752 -0.01255110 -0.01417209
+v -0.03521522 -0.01224142 -0.01397308
+v -0.02658079 -0.01598871 -0.00730515
+v -0.03352813 -0.01145973 -0.01360845
+v -0.02658079 -0.01319006 -0.00823563
+v -0.03048011 -0.01229323 -0.01149290
+v -0.03022482 -0.01075173 -0.01166965
+v -0.03323983 -0.00983764 -0.01376186
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+v -0.03471433 -0.00849530 -0.01410425
+v -0.03408629 -0.00791853 -0.01348949
+v -0.03649752 -0.01120876 -0.01484021
+v -0.02658079 -0.01546490 -0.00752749
+v -0.03445612 -0.01068955 -0.01419209
+v -0.03225845 -0.01068955 -0.01298812
+f 1 2 3
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+f 1 5 6
+f 1 6 13
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+f 1 7 17
+f 1 17 27
+f 1 27 40
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+f 1 42 29
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+f 1 28 18
+f 1 18 8
+f 1 8 2
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+f 34 48 35
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+f 45 52 46
+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_42.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bfd339d52abf8ca9932eb194f739bd223d82d5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_42.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.02658079 0.00009466 -0.00167476
+v -0.03158575 0.00009466 -0.00167476
+v -0.02658079 -0.00544516 -0.00167478
+v -0.02658079 0.00009468 -0.00841058
+v -0.03161293 -0.00101519 -0.00167476
+v -0.03458135 0.00009466 -0.00302421
+v -0.02699139 -0.00540202 -0.00167478
+v -0.02952106 -0.00791741 -0.00498801
+v -0.02895319 -0.00791741 -0.00505415
+v -0.02683705 -0.00791741 -0.00549040
+v -0.02661476 -0.00791741 -0.00558706
+v -0.02658079 -0.00791741 -0.00560232
+v -0.02658079 -0.00344977 -0.00846909
+v -0.02737774 -0.00791740 -0.00949169
+v -0.02691471 0.00009468 -0.00867894
+v -0.03140519 -0.00317292 -0.00167477
+v -0.03458135 -0.00101519 -0.00302040
+v -0.03546663 0.00009466 -0.00344012
+v -0.02820089 -0.00525692 -0.00167478
+v -0.03198568 -0.00791741 -0.00579437
+v -0.02922887 -0.00506319 -0.00167478
+v -0.02658079 -0.00791740 -0.00825162
+v -0.02658079 -0.00588281 -0.00849200
+v -0.02760294 0.00009468 -0.00923093
+v -0.03390768 -0.00791738 -0.01339379
+v -0.03088004 -0.00437218 -0.00167478
+v -0.03621019 -0.00101519 -0.00378606
+v -0.03609080 -0.00267564 -0.00384585
+v -0.03620534 0.00009466 -0.00378861
+v -0.03075482 -0.00453375 -0.00167478
+v -0.03387661 -0.00488514 -0.00369960
+v -0.03451049 -0.00791740 -0.00722650
+v -0.02847852 0.00009469 -0.00966973
+v -0.03408629 -0.00791738 -0.01348918
+v -0.03505505 -0.00791738 -0.01400301
+v -0.03556370 -0.00429766 -0.00415492
+v -0.03649752 -0.00015947 -0.00394377
+v -0.03649752 -0.00101519 -0.00393996
+v -0.03649752 -0.00302937 -0.00427193
+v -0.03649752 -0.00394549 -0.00465094
+v -0.03649752 0.00009466 -0.00394505
+v -0.03649752 -0.00773778 -0.00818549
+v -0.03582482 -0.00791740 -0.00797690
+v -0.02952106 0.00009469 -0.01019119
+v -0.03649752 -0.00791738 -0.01466820
+v -0.03649752 -0.00499808 -0.00550438
+v -0.03649752 0.00009470 -0.01315465
+v -0.03649752 -0.00791740 -0.00838135
+v -0.03137705 0.00009469 -0.01102299
+v -0.03562000 0.00009470 -0.01279852
+v -0.03458135 0.00009470 -0.01237626
+v -0.03352522 0.00009469 -0.01193874
+v -0.03264188 0.00009469 -0.01157244
+v -0.03195364 0.00009469 -0.01127355
+f 1 2 5
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+f 1 16 26
+f 1 26 30
+f 1 30 21
+f 1 21 19
+f 1 19 7
+f 1 7 3
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+f 1 15 24
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+f 44 45 49
+f 45 47 50
+f 45 50 51
+f 45 51 52
+f 45 52 53
+f 45 53 54
+f 45 54 49
+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_43.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f1c0eb284407d645fb149345cd6a66bc148625
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_43.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.05229389 -0.01075198 -0.02148467
+v -0.05229389 -0.01255959 -0.02124353
+v -0.05385379 -0.01252118 -0.02124248
+v -0.05407085 -0.01075198 -0.02138402
+v -0.05403310 -0.00985415 -0.02134313
+v -0.05291137 -0.00985415 -0.02140604
+v -0.05232759 -0.00985415 -0.02139660
+v -0.05088768 -0.00985415 -0.02109149
+v -0.05083240 -0.01075198 -0.02111875
+v -0.05087689 -0.01220370 -0.02109359
+v -0.05229389 -0.01377661 -0.02047918
+v -0.04976460 -0.01499022 -0.01920737
+v -0.05730392 -0.01726297 -0.01511509
+v -0.05730392 -0.01555265 -0.01682414
+v -0.05730392 -0.01323126 -0.01774051
+v -0.05730392 -0.01308959 -0.01776253
+v -0.05730392 -0.01105497 -0.01780865
+v -0.05730392 -0.01077418 -0.01781180
+v -0.05730392 -0.00985417 -0.01768388
+v -0.04353037 -0.00985417 -0.01717746
+v -0.04353037 -0.01075286 -0.01722884
+v -0.04992639 -0.01308362 -0.02032400
+v -0.04627537 -0.01318603 -0.01842203
+v -0.04754001 -0.01318603 -0.01910355
+v -0.04801459 -0.01471968 -0.01883095
+v -0.05229389 -0.01481441 -0.01926188
+v -0.04353037 -0.01665276 -0.01482885
+v -0.04353037 -0.01699585 -0.01417669
+v -0.04470468 -0.01701292 -0.01436437
+v -0.05730392 -0.01740294 -0.01492427
+v -0.05730392 -0.01737050 -0.01498613
+v -0.05730392 -0.00985419 -0.01077326
+v -0.04353037 -0.00985418 -0.01368703
+v -0.04353037 -0.01318604 -0.01685349
+v -0.04470468 -0.01318604 -0.01755074
+v -0.04353037 -0.01433051 -0.01655152
+v -0.04353037 -0.01474444 -0.01637642
+v -0.04470468 -0.01515751 -0.01671929
+v -0.04353037 -0.01533161 -0.01595074
+v -0.04353037 -0.01705900 -0.01339347
+v -0.05303272 -0.01857303 -0.01077329
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+v -0.05730392 -0.01822311 -0.01244878
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+v -0.04353037 -0.01632078 -0.01163724
+v -0.04706409 -0.01561924 -0.01077328
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+f 51 55 56
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+f 54 56 58
+f 55 58 56
+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_44.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0bddca77bf196dd111afe1538cfaca223f49bba
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_44.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.04858705 -0.00582567 -0.01342437
+v -0.05107685 -0.00582568 -0.01077324
+v -0.05018947 -0.00785512 -0.01077325
+v -0.04944884 -0.00985419 -0.01077326
+v -0.04858705 -0.00745679 -0.01363672
+v -0.04858705 -0.00582565 -0.01924811
+v -0.05730307 -0.00582568 -0.01077324
+v -0.05730307 -0.00985419 -0.01077326
+v -0.04858705 -0.00985418 -0.01406453
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+v -0.04858705 -0.00836856 -0.01961763
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+v -0.04976540 -0.00582565 -0.01980290
+v -0.05730307 -0.00582566 -0.01765972
+v -0.05730307 -0.00985417 -0.01768368
+v -0.04858705 -0.00985416 -0.01977794
+v -0.05041985 -0.00985415 -0.02083860
+v -0.05088914 -0.00985415 -0.02109153
+v -0.05232858 -0.00985415 -0.02139651
+v -0.05237978 -0.00843520 -0.02125702
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+v -0.05198045 -0.00582564 -0.02072096
+v -0.05195059 -0.00582564 -0.02071055
+v -0.04981830 -0.00582565 -0.01982684
+v -0.05377485 -0.00582564 -0.02111857
+v -0.05730307 -0.00588323 -0.01767221
+v -0.05403339 -0.00985415 -0.02134342
+v -0.05291221 -0.00985415 -0.02140588
+v -0.05396940 -0.00831689 -0.02127367
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
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+f 1 11 6
+f 1 6 13
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+
diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_5.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43af851bb7b396bd99badfda12b9ed944ebe8c6b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_5.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_6.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be02010def18af9624abda2598c33f408846f032
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_6.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_7.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab18c046681cb76f8593fe48e35a1eb5dfb43307
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_7.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_8.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c36d539f1c704d1040b6ccc6cba2a862fdfadbc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_8.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_9.obj b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1def3bc8df6c81af2c521e989aa1b985d1849c80
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/mjcf/mesh/hair_clip_017_collision_9.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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