diff --git a/.gitattributes b/.gitattributes
index 6c575b3f2f3c76536da3e4ac74d845307fe5a7e3..62857e3833a767c8a6b1dea95f08d8f7c2565ff0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2641,4 +2641,7 @@ dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/mesh/ra
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 dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/dental_floss_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/lighting_fixtures/03f09dca16db5598a67f0715cf3fb157/03f09dca16db5598a67f0715cf3fb157.usd filter=lfs diff=lfs merge=lfs -text
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+dataset/bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454/razor_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mouthwash_cup_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..77a0d92148e0e888b462c51757f5717d9c5ca02d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.glb b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.glb
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.glb
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.mtl b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..280c7f2094218c4d1e391801fa3fbaed3aa27fd1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022.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/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022_collision.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b05da2c061652988b8c4503dc96deb44768db0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mesh/mouthwash_cup_022_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022.obj
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index 0000000000000000000000000000000000000000..44ecb0a3e7b6c2e20854fd7c5a53aec6333f4a6a
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3383e2966a458b450f347096e0d690f0a474177d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_0.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33938eb63450d792bc697f4a52e075c6f7be65ec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_1.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f02b69a1df9975af11cfe9c7a576f2cfc08330
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_1.obj
@@ -0,0 +1,1879 @@
+# https://github.com/mikedh/trimesh
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+v 0.01815289 -0.00044498 -0.02683643
+v 0.01815289 0.00004086 -0.02683643
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_10.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0931d25181d713e48befa6d45154a8cb8450eda4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_11.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90723e657fd595126b2dca2e2c463653fc3e4566
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_12.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb82a2790423eeffa0c8c5a2bd601d14cf624ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_12.obj
@@ -0,0 +1,652 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_13.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26a00279fc88433a3312347e70f336eaef686b5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_13.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_14.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e5158671275b0dc2dfda6e836a390b0a365d6e9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01852176 0.00004087 -0.02616989
+v -0.01852176 0.00004087 -0.02516989
+v -0.01852176 0.01087960 -0.02616989
+v -0.01852176 0.01087960 -0.02516989
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+v -0.00916512 0.01087960 -0.02516989
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+
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_15.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df5f8df3dde067dd61b5a1fb6fa0e58da88d78b2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_15.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_16.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e65bce8600e8be57701428f797fc0e0a081ac954
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_16.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_17.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6f6eff9c47ff95597e2230b1451fb4fb86218fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_17.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_18.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a220b843ee374848f42eb3ebf0b509f6e5b9b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_18.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_19.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c39aa58e1e64111632b79d1e2b3867707a300d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_19.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_2.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6bb9053386108d86f66e9ac58f4c3ed30ff96f3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_2.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_20.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a15738a36c0cf5d6849eb1d34f18789775a23cc2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_21.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a13fe7754e603f23bbc5965a1e09e7125b85384
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_21.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_22.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86399055d0a821ae394eedc21bb9d41d5d7d7f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_22.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_23.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7d9060592ce612fd1972dc664935724224d7113
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_23.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_24.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dfdee8c70a1db4b5bfe4662b4b77976c1b38044
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_24.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_25.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad095089bf249792cc557e5472ae003fb3c0a55
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_25.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_26.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc59392c7f9741299f01ff8a429abfd38c03913a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_27.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f91b46b1a53cd3be7651ea32cfe3127dfd1528
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_27.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_28.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b90d5acb6e7b47bef951ac1248bd7b72df91a9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_28.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_29.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d76a66e5f0ef1a282908e57766866a23f1dea6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_29.obj
@@ -0,0 +1,328 @@
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+
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_3.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..167b3ab78f83d1f40207ceefd47579c115fdcbfe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_3.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_30.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdb49cf54291ce278db55d266006d14d6412e705
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_30.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_31.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0670ff046eb0a2da34a6508360e5d54884351e0d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_31.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_32.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424445733e6c49d44df3630c33118a202614ba22
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_32.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_33.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b868d1bc9bc882b6d35755d1fd68c10a5863da2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_33.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_34.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baba7d9f462f23acc82147df2d6f2aaffcce1c9a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_34.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_35.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d16c96ae3c9cf3d4ab9be79ff4ec65e1064c1e9f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_35.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_36.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a84da4671b3092c1d81b2a40e8f5291be934815
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_36.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_37.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6292b845b853ffb2f522635d1f83e2a9dd7d75
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_37.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_38.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75b9992216254567857dae9c402cc56b35d89567
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_38.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_39.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3087e5d151bd08a891ac508df6cdb97d7e3e7ec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_39.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_4.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85e1d1dbdcc17ae0c5af54a850edd6ca26ce77d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_4.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_40.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b45fae65d080432ed2edf30d83f431f2291e9097
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_40.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_41.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca16781a2869f885d2753c8afdd4c962a030adb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_41.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_42.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..773352449993e8f79f2483adfed53723126db13b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_42.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_43.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dad20407ce261c7e62a2d37dfe2944eec2049cd4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_43.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_44.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16b79dce426630785896130a662b9b51e67b0f34
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_44.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_45.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3532e5a2e23ea5f096c8e33926eccc7310f462b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_45.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_46.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65fb42963897d3ebcd694962494b2070303f3bed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_46.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_47.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ce7b3d683c62c1d5a4abccce606c3b72cbe3a8c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_47.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_48.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9994f8d433b9725bdfdc245c1c1ad50af0535dd1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_48.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_49.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df21cfa19a6c85ee1927c6c2112ff31a2b002681
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_49.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_5.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0df9c84b583500ee7c510ae20abe415093c41a7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_5.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_50.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b66cdb269e89a973420dd6ef0edaa6118189edb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_50.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_51.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d3caa19bc16de48f60a10c5bbf8bbb7962c802a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_51.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_52.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2949631f3c8594d482cb91b25d4ab0e0a8af87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_52.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_53.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dac43093b8740bbb9c413a11232ab1edce01784
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_53.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_54.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c65593f86435406a614ffb17fd766a1004567e9d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_54.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_55.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..867c8dfe750ba39593e9dbf90808864b53e75449
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_55.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_56.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc03effcadf49dab0b28b5ee98cfe9eaa3bce48b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_56.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_6.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a641e909fbe9fa16a28bfe8419b2e7a41cd84f68
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_6.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01850972 -0.00962284 -0.02619752
+v -0.01850972 -0.00962284 -0.02519752
+v -0.01850972 0.00004088 -0.02619752
+v -0.01850972 0.00004088 -0.02519752
+v -0.01038128 -0.00962284 -0.02619752
+v -0.01038128 -0.00962284 -0.02519752
+v -0.01038128 0.00004088 -0.02619752
+v -0.01038128 0.00004088 -0.02519752
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_7.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6122575f5d1e1b3bfd51d12bf1c9c7bd8642af
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_7.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
+v -0.00984728 0.02487997 0.02846931
+v -0.00984728 0.02484593 0.02893344
+v -0.00984728 0.02477893 0.02782243
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_8.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb3f4945dc5e577cd249b069cab606f738399036
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_8.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_9.obj b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mesh/mouthwash_cup_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1b8c27e0d0a2b8b784f5291029d32ad5b42a0a0
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mouthwash_cup_022.xml b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mouthwash_cup_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..787b4d38e1de533d330954a8b77fee810c16a74a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mjcf/mouthwash_cup_022.xml
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+    <mesh name="collision_mesh_0_31" file="mesh/mouthwash_cup_022_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mouthwash_cup_022_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_35" file="mesh/mouthwash_cup_022_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_37" file="mesh/mouthwash_cup_022_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mouthwash_cup_022_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mouthwash_cup_022_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_41" file="mesh/mouthwash_cup_022_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mouthwash_cup_022_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mouthwash_cup_022_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mouthwash_cup_022_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mouthwash_cup_022_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mouthwash_cup_022_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/mouthwash_cup_022_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/mouthwash_cup_022_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/mouthwash_cup_022_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_51" file="mesh/mouthwash_cup_022_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/mouthwash_cup_022_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_56" file="mesh/mouthwash_cup_022_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_022">
+      <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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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mouthwash_cup_022.urdf b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mouthwash_cup_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..48d97ed2b831c5ce607d9be43f257581d5ba8a08
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mouthwash_cup_022.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_022">
+   <link name="mouthwash_cup_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_022.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_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>ff4e4d96ddf25057bbec94f964abe210</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>blue rinse cup</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>translucent blue tapered plastic cup with rolled rim and wavy lower grip</description>
+         <min_height>0.0600</min_height>
+         <max_height>0.0600</max_height>
+         <real_height>0.0600</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611122422</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026612 -0.026535 -0.029673</min>
+            <max>0.026567 0.026634 0.030327</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Decoration is segmented as a part; cup body and base banding are acceptable.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mouthwash_cup_022.usd b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mouthwash_cup_022.usd
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+++ b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mouthwash_cup_022.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/textures/material_0.png b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/video.mp4 b/dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/video.mp4
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