diff --git a/.gitattributes b/.gitattributes
index 520107f81545498903f936eb79f16552fd8cd66d..1db7a87257722c5155b6d508215ad270e9c9c8a2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2639,3 +2639,5 @@ dataset/bathroom_supplies/personal_care/f90bbbb17d705379a6432772b8bc72bb/mesh/ra
 dataset/bathroom_supplies/personal_care/f90bbbb17d705379a6432772b8bc72bb/razor_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/mesh/razor_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/razor_013.usd filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/dental_floss_021.urdf b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/dental_floss_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..651705f651116cba6460ff53a5e804159a52e67c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/dental_floss_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="dental_floss_021">
+   <link name="dental_floss_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/dental_floss_021.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/dental_floss_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>fb8c2c8507f65189b19c2062355405b0</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>dental_floss</category>
+         <name>floss dispenser</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rounded plastic dental floss case with hinged flip-top lid</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611120610</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040849 -0.045309 -0.038459</min>
+            <max>0.035561 0.044988 0.081541</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/fb8c2c8507f65189b19c2062355405b0/dental_floss_021.usd b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/dental_floss_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5f3267f3f55c50cad4974c2ca0e03c9c75a9f32a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/dental_floss_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0933373a0a9bce90343e525fc01cfa9982f2ad4d929443e0e182836efe4ec9fa
+size 4886530
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.glb b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..13f21d638f048750bef1b144975b6396279521f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:128660c0b3cf17922b982bb1e28882bcad061d5b46db027374e89790a13e5809
+size 11648284
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.mtl b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..17d6acc68238be307f7b0f1013eb68c009b7d7c5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.mtl
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+newmtl dental_floss_021_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/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77dbcd90749e966c68fb81e3dffd0998946678f7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021.obj
@@ -0,0 +1,107594 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_021_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021_collision.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7a162bde8a3cdf38321a06e87a96958a3a009fa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..31103a2d6378fd4e41342cdd633b427e746a07a8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/dental_floss_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083f02ac766904785794527932f6a5a990c210d57d59ddba14fd1ce2276ec8f2
+size 8347207
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..154b5d370900f454a1ecb17c8e4ab3e2da47b37f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl dental_floss_021_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 dental_floss_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..31103a2d6378fd4e41342cdd633b427e746a07a8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083f02ac766904785794527932f6a5a990c210d57d59ddba14fd1ce2276ec8f2
+size 8347207
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/dental_floss_021.xml b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/dental_floss_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1944575fe124e2bc4f53ef632b5066453c8a10b5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/dental_floss_021.xml
@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="dental_floss_021">
+  <asset>
+    <material name="material_0" texture="texture_0_dental_floss_021_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_dental_floss_021_geometry_Looks_material_0" type="2d" file="mesh/dental_floss_021_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/dental_floss_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/dental_floss_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/dental_floss_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/dental_floss_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/dental_floss_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/dental_floss_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/dental_floss_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/dental_floss_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/dental_floss_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/dental_floss_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/dental_floss_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/dental_floss_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/dental_floss_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/dental_floss_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/dental_floss_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/dental_floss_021_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/dental_floss_021_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/dental_floss_021_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/dental_floss_021_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/dental_floss_021_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/dental_floss_021_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/dental_floss_021_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/dental_floss_021_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/dental_floss_021_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/dental_floss_021_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/dental_floss_021_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/dental_floss_021_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/dental_floss_021_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/dental_floss_021_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/dental_floss_021_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/dental_floss_021_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/dental_floss_021_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/dental_floss_021_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/dental_floss_021_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/dental_floss_021_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/dental_floss_021_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/dental_floss_021_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/dental_floss_021_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/dental_floss_021_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/dental_floss_021_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/dental_floss_021_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/dental_floss_021_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/dental_floss_021_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/dental_floss_021_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/dental_floss_021_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/dental_floss_021_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/dental_floss_021_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/dental_floss_021_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="dental_floss_021">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0cb4caaa50fd6bc35af42bb1e0e521c46141b4a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021.obj
@@ -0,0 +1,107594 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_021_geometry_Looks_material_0
+v -0.018448 0.044496 0.048973
+v -0.018448 0.044496 0.048973
+v -0.016620 0.044725 0.050573
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+v 0.008891 -0.010751 0.077036
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+v 0.014039 0.007514 0.077815
+v 0.015470 0.007599 0.077488
+v 0.013041 -0.008321 0.078042
+v 0.011333 -0.008827 0.078407
+v 0.009884 -0.008177 0.078712
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f8eb2c92ded85fe37abccc64a83638f16521625
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision.obj
@@ -0,0 +1,27970 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_0.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf550750bd03f5c35e371f662bda7a22a3a3c85
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_1.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73cf0f3a96bf9bf6914b9afd14d4329a004a1c20
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_10.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bfc0c79e178de80cfdd061f393f3e5996e49993
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_11.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9602358d3a5ff6b7b21403cc9439f7f43a32fc69
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_11.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_12.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345537eaa16e89b1ff3c58fb5c6985d77605c265
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_12.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_13.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..859b83adc016765d972f99f5cff4e84f7c9826d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_13.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_14.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a637f9332ba633b780d97dc5d62be17d4c640620
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_14.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_15.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f782a2ddee3046fa1c612d2c74803b419060b7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_15.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_16.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083c5e43e626ad03a84909efc608925565b7d954
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_16.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_17.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d58d1c1be4de1899e1c74e512ddd815c59b3dcf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_17.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_18.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de577b4e9f7380b7b3fefa6af368dd97e3a9d2df
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_18.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_19.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb528b755093c2b75bf6ffd45f237cd723a94f1f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_19.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_2.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41d4ec19d46bf1e5da69c6e894e3726b7a1f3fac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_2.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_20.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4970f2454d079d5a7cca1790180e0c25a25d49a8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_20.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_21.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e2d7be8ca32dca457c4f8e7d1da3a39ad18c186
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_21.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_22.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c997eb6a4dee45577b9ab3b549951e00715d6b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_22.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_23.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0a58582f511741414fc5bd6bf5b0a733fdd5a92
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_23.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_24.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a2b7009c28f9eb1ea98e6ab8ac5d531b903fe18
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_24.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_25.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9577cd3a3b17000f7ed2b68a5a2a89910e23e6d7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_25.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_26.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d29a45f6aafcf843f03dd7920de31b2c0d9d17b3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_26.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_27.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5eec98a2cea403e06ddadc3f09f2c159e478d3c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_27.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01606692 0.00516748 0.02198184
+v -0.01606692 0.00516748 0.02298185
+v -0.01606692 0.01094886 0.02198184
+v -0.01606692 0.01094886 0.02298185
+v -0.01506692 0.00516748 0.02198184
+v -0.01506692 0.00516748 0.02298185
+v -0.01506692 0.01094886 0.02198184
+v -0.01506692 0.01094886 0.02298185
+f 2 4 1
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+f 2 8 4
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+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/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_28.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9933c0854b28451cf94acb4d72a24d19b95699
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03158984 -0.00949002 0.02239454
+v -0.03158984 -0.00949002 0.02339454
+v -0.03158984 0.02240187 0.02239454
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+f 2 4 1
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_29.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8258191cd5d0e23f3a80a76f1fc2af27c487ab4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_29.obj
@@ -0,0 +1,712 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_3.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cdff09d51b7d8d8d04eb889ea92623a3cf9cf6c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_3.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_30.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7816622077739bcbbd3075e8adb50dcd05005b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_30.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_31.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db4cf999e2c622d2dd20c920acc9305663969d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_31.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02915733 0.03248568 0.05223172
+v -0.02832402 0.03248567 0.05322525
+v -0.02915510 0.03252730 0.05223172
+v -0.02109007 0.03248568 0.05223172
+v -0.02825253 0.03419804 0.05314152
+v -0.02746837 0.03248567 0.05421244
+v -0.02901435 0.03419805 0.05223173
+v -0.02078624 0.03501883 0.05223173
+v -0.00633846 0.03543756 0.06519333
+v -0.00817263 0.03248563 0.06519332
+v -0.02853849 0.03543761 0.05262254
+v -0.02739464 0.03419804 0.05412870
+v -0.02731869 0.03543760 0.05404115
+v -0.02817657 0.03543761 0.05305269
+v -0.02648984 0.03248567 0.05532398
+v -0.02895403 0.03469197 0.05223173
+v -0.02074156 0.03543761 0.05223173
+v -0.01651915 0.03543756 0.06519333
+v -0.00961138 0.03248563 0.06519332
+v -0.02886243 0.03543761 0.05223173
+v -0.02641612 0.03419804 0.05524024
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+v -0.02560515 0.03248566 0.05631117
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_32.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aff30243c599ca6b6c5a74e00a4728cca4fcd36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_32.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02689430 -0.02859139 0.04500668
+v -0.02548838 -0.03497943 0.04500666
+v -0.02503167 -0.03497941 0.03994137
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+v -0.03746882 -0.03256365 0.03997907
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_33.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc9d156ad80f8114381c0492f2941ea40fa1a3ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_33.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03820148 -0.02859134 0.03262693
+v -0.03819355 -0.02862448 0.03262693
+v -0.03821418 -0.02859134 0.03265271
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+v -0.03773986 -0.03122601 0.03994068
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_34.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ef41290419d748c2509cdf0cea6920afa2eb46
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_34.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00605277 0.00880967 0.02244509
+v 0.00531253 0.00880966 0.02365309
+v 0.00605277 0.00880672 0.02336784
+v 0.00605277 0.00153042 0.02244507
+v -0.01537000 0.00880967 0.02244509
+v 0.00494137 0.00880966 0.02379541
+v 0.00448842 0.00880966 0.02395953
+v -0.00206255 -0.00622883 0.02395948
+v -0.00007881 -0.00622882 0.02244504
+v -0.01537000 0.00516710 0.02244508
+v -0.01537000 0.00880967 0.02251463
+v -0.01029950 0.00880966 0.02395953
+v -0.01330028 -0.00622883 0.02395948
+v -0.01439700 -0.00622882 0.02244504
+v -0.01537000 0.00671306 0.02251195
+v -0.01537000 0.00867569 0.02251863
+v -0.01313671 -0.00310158 0.02395949
+v -0.01299412 -0.00102558 0.02395950
+v -0.01240277 0.00278632 0.02395951
+v -0.01189320 0.00502133 0.02395952
+v -0.01146961 0.00663207 0.02395952
+v -0.01103134 0.00746836 0.02395953
+v -0.01038547 0.00867568 0.02395953
+v -0.01324785 -0.00506568 0.02395948
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 10
+f 1 10 5
+f 1 5 11
+f 1 11 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
+f 2 6 4
+f 2 4 3
+f 4 6 7
+f 4 7 8
+f 4 8 9
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+f 5 16 11
+f 7 12 23
+f 7 23 22
+f 7 22 21
+f 7 21 20
+f 7 20 19
+f 7 19 18
+f 7 18 17
+f 7 17 24
+f 7 24 13
+f 7 13 8
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+f 8 14 9
+f 10 14 13
+f 10 13 15
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+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 13 24 16
+f 13 16 15
+f 16 24 17
+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_35.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d5f9326f1af941a40a1ff4e981ba4b3d3f8db3d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_35.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02368002 -0.03915202 0.02630631
+v -0.02278027 -0.03986810 0.02630630
+v -0.02250530 -0.03967113 0.02742247
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+v -0.02135012 -0.04077447 0.02630630
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+v -0.02117359 -0.04007341 0.02761110
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+v -0.02314635 -0.03848601 0.02767767
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+v -0.02368002 -0.02583853 0.02955342
+v -0.02146727 -0.02583852 0.02630636
+v -0.02106864 -0.04094974 0.02630630
+v -0.02104180 -0.04096643 0.02630630
+v -0.02025676 -0.04141378 0.02630630
+v -0.01941315 -0.04176097 0.02630630
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+v -0.01537000 -0.04288934 0.02630629
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+v -0.01537000 -0.03517433 0.02937898
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+f 30 31 38
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+f 30 39 40
+f 33 40 34
+f 34 40 41
+f 39 41 40
+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_36.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21366afd5f69cf9979dd18aba68f2d67194866ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_36.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01574417 0.02530204 0.02244560
+v 0.01570647 0.02393318 0.02244516
+v 0.01553371 0.02442552 0.02244516
+v 0.01087522 0.02530204 0.02244516
+v 0.01250553 0.02530203 0.02374954
+v 0.01361440 0.02409459 0.02395945
+v 0.01432746 0.02288231 0.02395944
+v 0.01447824 0.02241903 0.02395944
+v 0.01478923 0.02134234 0.02395944
+v 0.01489917 0.02095493 0.02395944
+v 0.01494629 0.02052716 0.02395944
+v 0.01614939 0.01864499 0.02244514
+v 0.01600803 0.02046583 0.02244515
+v -0.00584256 0.02530204 0.02244516
+v 0.01220083 0.02491300 0.02395945
+v 0.01234219 0.02487910 0.02395945
+v 0.01212858 0.02530203 0.02379030
+v 0.01502482 0.01849163 0.02395943
+v 0.01672110 0.00881115 0.02244510
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+v -0.00928852 0.01037693 0.02395940
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+v 0.01021869 0.02530203 0.02389407
+v 0.01501854 0.01809937 0.02395943
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+v -0.01029686 0.00881114 0.02395939
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+v -0.01537000 0.00881115 0.02251477
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+v 0.00448590 0.00881114 0.02395939
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+v 0.01208146 0.00881114 0.02343609
+v 0.01223852 0.01385074 0.02395941
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_37.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20834919ed44a5e44a556246343fac8146a9eb91
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_37.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.02368232 -0.02583686 0.02955327
+v -0.02441243 -0.03305592 0.03262630
+v -0.02397496 -0.03451299 0.03262629
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+v -0.02369427 -0.03647519 0.03262629
+v -0.02369277 -0.03650304 0.03262629
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+v -0.02810628 -0.02583687 0.03262633
+v -0.02383760 -0.03822659 0.03262628
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+v -0.02368232 -0.03824248 0.02760124
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+v -0.02368232 -0.03058857 0.02990653
+v -0.02368232 -0.02927867 0.02994241
+v -0.03225253 -0.02583685 0.02630636
+v -0.03893251 -0.02583687 0.03262633
+v -0.02430045 -0.03920504 0.03262628
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+v -0.02834816 -0.03378908 0.02630633
+f 1 2 3
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+f 1 15 14
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_38.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fa83093b198a691bd24b43a7d3187643fbb30c0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_38.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_39.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34ad1c4aa8060e72cc2e21cd1bb79b36997ade9a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_39.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_4.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cff5f2382016d53de03303be62d5f91a8bdb0a6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_4.obj
@@ -0,0 +1,1756 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_40.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be38a3b1d030e3a4ce490dd42ade3711532983bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_40.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_41.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..373253b88430f7d51217cd9ad088583d545ba5c6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_41.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_42.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9070c4b14dfcd369b0824f255e1e13862ddb780c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_42.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00197736 0.00605936 0.02396002
+v 0.00178742 0.00605936 0.02418874
+v -0.00264562 -0.00623030 0.02509771
+v -0.00206083 -0.00623030 0.02395998
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_43.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1e27408ec5b2584901755aa5baa9e05e5de5a88
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_43.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.01208638 -0.03394184 0.02408812
+v 0.01012963 -0.03403983 0.02408811
+v 0.01824843 -0.03540229 0.02924460
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_44.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f89685cecae02b3629a1a36c63dba667dff5d1f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_44.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.03435479 -0.02766820 0.02408869
+v 0.03435006 -0.02766820 0.02423359
+v 0.03417190 -0.02862558 0.02423358
+v 0.03419713 -0.02851088 0.02408869
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_45.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a62599256648e5f9d5a5c275cf95e4a24834584
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_45.obj
@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
+v 0.02035085 0.03163544 0.02244518
+v 0.02559592 0.02682547 0.02390113
+v 0.02330300 0.03136972 0.02390115
+v 0.02320648 0.03163543 0.02390115
+v 0.02559592 0.03163544 0.02244518
+v 0.02559592 0.02135326 0.02244514
+v 0.02559592 0.03163543 0.02390115
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 5
+f 1 5 6
+f 1 6 2
+f 2 7 4
+f 2 4 3
+f 2 6 5
+f 2 5 7
+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_46.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e26db543734601894b62cf9ba5614660766f7be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_46.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01794787 0.03163544 0.02244533
+v 0.01735860 0.03163544 0.02254434
+v 0.01250934 0.02530204 0.02374965
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+
diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_5.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..446500df1f15ea96fede4a8e38818221b24c0ec9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_5.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.00118893 -0.04370493 0.06519431
+v 0.00118893 -0.03667546 0.06519434
+v 0.00180515 -0.04359443 0.06519431
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_6.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5318befef5fa75e69eb80228e423fa76d0a72ba7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_7.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..646a11ffc532eb731192f919e81e56ee26b7ec86
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_8.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289d455d7f3f603b480660823731b27ff6199f12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_8.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_9.obj b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e169d6793830112bdca20876e29452aa700d4fd7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/mjcf/mesh/dental_floss_021_collision_9.obj
@@ -0,0 +1,553 @@
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