diff --git a/.gitattributes b/.gitattributes
index dfd2b196f77490f22065d88f85a6b488fba05618..40cc992f796a244666f7a90bc41eee36e4f04fbe 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2469,7 +2469,5 @@ dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/to
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 dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/toothbrush_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/0ff0f152a78e5621acc1f48ebf0e3c0d/mesh/toothbrush_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/0ff0f152a78e5621acc1f48ebf0e3c0d/toothbrush_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/10d3b3d1834151d6b85ae4ac2bfc0c91/mesh/mouthwash_cup_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/10d3b3d1834151d6b85ae4ac2bfc0c91/mouthwash_cup_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0847c1211ece4d5f822b4e8e4b5abfaac00df82c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.glb b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.glb
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.glb
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.mtl b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db2f47c7a4c5b9f90458c61131ce620f59c31288
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.mtl
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+newmtl mouthwash_cup_029_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe014ed163aecd1684ec40ca8f2dd232d45c1cc3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029_collision.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d74220452bd21d19d75e1bb8c44ff22c475213bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029_collision.obj
@@ -0,0 +1,10155 @@
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mesh/mouthwash_cup_029_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029.obj
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385d8ecfee8944901409573580fcf5851dbb2e82
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision.obj
@@ -0,0 +1,10155 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_0.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dba6d258493e1846b799ddae9d834d78013dafd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_1.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..556d3a4c7103450346ae6e35fc5ee997cc767825
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_10.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274fbd3a3ed6b518f1b3bfea43297e1ff64003e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_10.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_11.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6fa6930939312382efb97f7182bc5123fff503b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_11.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_12.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f28541e256029709f3437300c2d1d42bf2edb53
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_12.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_13.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b3b110deb34249e6849b57e95c612a4c6a2db06
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_13.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_14.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4233e27967b443b94542e2dfd0aec7f575c0318f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_14.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_15.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae26a49b64e9e89c1404fabc273e7320d04b7f65
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_15.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_16.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f0874292ff5a1b681cab30c096be7a3e9342403
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_16.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_17.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b045b16cd1a678cea0692f52837fc359dbe5deb3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_17.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_18.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dccb1eef238c35877b6c077b0184daface7d5ff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_18.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_19.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa4e1731fc4dad1f92d8da6a2e149e006358d49a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_19.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_2.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c798e106aceab2f88cab46df9a7b81dc8e1ce8c0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_2.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_20.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..998d87242bfd49716238ff9eda9d3cc29f295c2a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_20.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_21.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5974a2d8f2b991d6ff13b5fd8709f15b31e4916f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_21.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00000284 -0.02463038 -0.01080947
+v 0.00000284 -0.02065631 -0.01080946
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+
diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_22.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17dfcfab75157dca8c28a8572e42e411dfa4c4ad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_22.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_23.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7859be0bcb05a475db8d502f3d1f1d65d8aa17
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_23.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_24.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a66ffd6d06edd776f23fd383f5339589759d21
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_24.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_25.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2fd8852825ad7b2a0499c710c1c754fa285238e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_25.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.02219092 0.00714946 -0.02462966
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+
diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_26.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a90f81c48b68de2e26eed6d68ff038441f55291
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_26.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_27.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cd5c70042bb9a01e0e9db9a65318c72bf048b36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_27.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_28.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d4481c5a7bcd77bb187cdd25e9344915740f458
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_28.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_29.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10fdc15ab847ae18a458ea6e8ff08ce5f9d39ee5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_29.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_3.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67541dcadc24ff632505712477ee687fa1948167
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_3.obj
@@ -0,0 +1,754 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_30.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f562dfa7a524ff943d304abcef0118418984300c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_30.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_31.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c66ec79989c2807e7fe24bf2e8c7006f6ab5ed3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_31.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_32.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ce8f55e62c9fd5b34dd0a5bbf0374ce51d20fda
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_32.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_33.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8163cd8a9d082622252f993cb62923db3a225d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_33.obj
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_4.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a32de5309bb4580e0e807796a701fc19a51ac6bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_4.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_5.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..342821991ca368a0088338dcda98c360f7b28268
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_5.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_6.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..202ef1b9e23909f1f3ca41bc961bf06b95575652
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_6.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_7.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ed1ad76ac0f4b9c233114847d4ac958dcbf50b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_7.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_8.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f55b81e74de35da644089fda20192ae2ca25be9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_8.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+v 0.00197958 -0.02953053 0.04588205
+v 0.00197958 -0.02934361 0.04720376
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_9.obj b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3becdcc6838433aa9a761035f2e843cd9284b933
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mesh/mouthwash_cup_029_collision_9.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.02821489 -0.00860580 0.04588150
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diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mouthwash_cup_029.xml b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mouthwash_cup_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fb64d49ad0a08b57003276a98b15b2c524b98ba9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mjcf/mouthwash_cup_029.xml
@@ -0,0 +1,82 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_029">
+  <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_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_029_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_25" file="mesh/mouthwash_cup_029_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_029">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_33" 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/101f6a7161e5535db99766879e3d51da/mouthwash_cup_029.urdf b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mouthwash_cup_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c0f3b702c00b71c9e5c32b0118d3fa1dccaf3c62
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mouthwash_cup_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_029">
+   <link name="mouthwash_cup_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>101f6a7161e5535db99766879e3d51da</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>clear tumbler</name>
+         <color>transparent</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>transparent tapered mouthwash cup with thick base and printed logo</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611122745</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.029258 -0.029440 -0.031616</min>
+            <max>0.029278 0.029437 0.048384</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mouthwash_cup_029.usd b/dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/mouthwash_cup_029.usd
new file mode 100644
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