diff --git a/.gitattributes b/.gitattributes
index 96167627645437f3a1cd34a8f0780d9540f0158b..b92cf78e713321612853f98d1fc8d474037cd368 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2599,5 +2599,5 @@ dataset/bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67/mesh/mo
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dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/comb_009.usd filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/mesh/comb_009.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/bathroom_supplies/personal_care/bbe2c941cc33548f95eb909ffdc9d2cb/mesh/hair_clip_029.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/hair_clip_010.urdf b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/hair_clip_010.urdf
new file mode 100644
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/hair_clip_010.usd b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/hair_clip_010.usd
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/hair_clip_010.glb b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/hair_clip_010.glb
new file mode 100644
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new file mode 100644
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/hair_clip_010.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/hair_clip_010.obj
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+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/hair_clip_010.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/hair_clip_010_collision.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/hair_clip_010_collision.obj
new file mode 100644
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/hair_clip_010_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/hair_clip_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf8ba8a8f2bb0eb8bf319238af62eaabf1297db1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/hair_clip_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0072709e6109f8554e356b4fc23cdde175665d47148525a3c52951c8b03d8539
+size 12409946
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1176fcd3e9d4eda574ad7c65e85d88f1e952d8c2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl hair_clip_010_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
+map_Kd hair_clip_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf8ba8a8f2bb0eb8bf319238af62eaabf1297db1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:0072709e6109f8554e356b4fc23cdde175665d47148525a3c52951c8b03d8539
+size 12409946
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/hair_clip_010.xml b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/hair_clip_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7871b691d60f7a3808022db1a790c5f2021e2679
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/hair_clip_010.xml
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba99013cd1f35d6e8e2f3f061258cf4d415e16d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35332850580019cc09c3bc958861665aebac0d25
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision.obj
@@ -0,0 +1,10770 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_0.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a83ec5c2f4b13e37a76fdd534d7fea6eb272e4e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_0.obj
@@ -0,0 +1,151 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_1.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86306ae546cdb4aa43c66e6b522784d0545b1754
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_1.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_10.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7918375a76f547071bda8b22fb92c2cab76932
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_10.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_11.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e9a16465c49e6a5d132f3925226f07537b5eed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_11.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_12.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ba5df17df300797ecf19d9e51e3e9e41d5eefe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_12.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_13.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88aa1c8c6d7683af8a8b1ef3a3b347b4cfe2d374
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_13.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_14.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ca489622760d73d423836060af7bb5abda42acb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_14.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_15.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6b425cab945f6465f1094088cc53dd7708dc08
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_15.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_16.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dbaee9b8f318b84c234de17dbd5ec7d86968f78
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_16.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00809384 -0.01865062 0.00150997
+v -0.00796180 -0.01936417 0.00081685
+v -0.00796180 -0.01936607 0.00081685
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+v -0.00809222 -0.01782480 0.00150997
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+v -0.00773904 -0.01936607 0.00001558
+v -0.00395661 -0.01936608 0.00150997
+v -0.00805293 -0.01699898 0.00150998
+v -0.00771312 -0.01936417 -0.00005280
+v -0.00667223 0.00007306 -0.00005273
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+v -0.00444384 -0.01936607 0.00001558
+v -0.00476583 -0.00284966 -0.00005274
+v -0.00485979 -0.00029418 -0.00005273
+v -0.00490273 0.00007305 0.00151004
+v -0.00704728 -0.00037791 0.00151004
+v -0.00700354 0.00007305 0.00151004
+v -0.00490030 0.00007306 -0.00005273
+v -0.00447949 -0.01936607 -0.00005280
+f 1 2 3
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+f 10 20 12
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+f 11 18 16
+f 11 16 19
+f 13 20 14
+f 15 19 16
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_17.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c31eba353aa49b513585abd72a6a4cd559645bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_17.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.00395644 -0.01936664 0.00150997
+v -0.00241286 -0.02014968 0.00150997
+v -0.00444415 -0.01936663 0.00001564
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+v -0.00241286 -0.02494403 0.00150995
+v -0.00241286 -0.02122334 -0.00074309
+v -0.00506136 -0.01936663 -0.00126720
+v -0.00796171 -0.01936663 0.00081676
+v -0.00804107 -0.01947730 0.00150997
+v -0.00263109 -0.02493117 0.00150995
+v -0.00241286 -0.02497587 0.00135391
+v -0.00241286 -0.02184317 -0.00108535
+v -0.00700999 -0.01936663 -0.00126720
+v -0.00241286 -0.02241885 -0.00126721
+v -0.00795234 -0.02019158 0.00081676
+v -0.00773908 -0.01936663 0.00001564
+v -0.00779473 -0.02019158 0.00001564
+v -0.00784819 -0.02101710 0.00081675
+v -0.00790605 -0.02030282 0.00150997
+v -0.00293474 -0.02489596 0.00150995
+v -0.00299811 -0.02491720 0.00147135
+v -0.00241286 -0.02498202 0.00132074
+v -0.00299811 -0.02504965 0.00081674
+v -0.00710478 -0.02019158 -0.00126720
+v -0.00757871 -0.02019158 -0.00059493
+v -0.00753573 -0.01936663 -0.00051881
+v -0.00241286 -0.02419787 -0.00126722
+v -0.00773852 -0.02101710 0.00001563
+v -0.00755556 -0.02101710 -0.00061397
+v -0.00753407 -0.02189906 0.00002297
+v -0.00761563 -0.02184317 0.00081675
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+v -0.00380324 -0.02484398 0.00136533
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+v -0.00241286 -0.02503009 0.00059791
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+v -0.00241286 -0.02484621 -0.00010916
+v -0.00241286 -0.02488198 0.00001562
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+v -0.00399447 -0.02469698 -0.00025623
+v -0.00478913 -0.02464779 0.00081674
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+v -0.00682042 -0.02257926 -0.00126721
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+v -0.00618172 -0.02347856 0.00142595
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+v -0.00452736 -0.02435381 0.00150995
+v -0.00459680 -0.02436108 0.00148249
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_18.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02aa60d22a34c08dd1442f613d00b77424e14b6c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_18.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00052147 -0.02402817 -0.00126722
+v -0.00033642 -0.02400827 -0.00126722
+v -0.00052147 -0.02041689 -0.00126720
+v -0.00052147 -0.02315273 -0.00559460
+v 0.00004486 -0.02315273 -0.00559460
+v 0.00022297 -0.02393520 -0.00126722
+v -0.00052147 -0.02041219 -0.00129643
+v 0.00023058 -0.02046898 -0.00126721
+v -0.00052147 -0.02035067 -0.00559458
+v 0.00044718 -0.02299356 -0.00559459
+v 0.00069398 -0.02386647 -0.00126722
+v -0.00052147 -0.02036732 -0.00158531
+v 0.00038273 -0.02052722 -0.00126721
+v 0.00028674 -0.02045848 -0.00155991
+v 0.00022141 -0.02039698 -0.00238886
+v -0.00052147 -0.02036298 -0.00164928
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+v -0.00052147 -0.02033260 -0.00238886
+v 0.00084434 -0.02258082 -0.00559459
+v 0.00176443 -0.02324138 -0.00126722
+v 0.00130103 -0.02358395 -0.00126722
+v 0.00059754 -0.02062091 -0.00126721
+v 0.00064744 -0.02058256 -0.00180898
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+v 0.00108309 -0.02184286 -0.00559459
+v 0.00173960 -0.02269225 -0.00126721
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+v 0.00173400 -0.02261484 -0.00126721
+v 0.00112896 -0.02138419 -0.00126721
+v 0.00082779 -0.02090088 -0.00559459
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_19.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..860381f36601755886ec0070ee11ea96026d1513
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00182379 -0.02425017 -0.00132435
+v 0.00182379 -0.02425017 -0.00032435
+v 0.00182379 -0.01629110 -0.00132435
+v 0.00182379 -0.01629110 -0.00032435
+v 0.00739629 -0.02425017 -0.00132435
+v 0.00739629 -0.02425017 -0.00032435
+v 0.00739629 -0.01629110 -0.00132435
+v 0.00739629 -0.01629110 -0.00032435
+f 2 4 1
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+f 3 5 1
+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/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_2.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e69ff5b45dba0dd5c736ee4e4be08ddadacf22c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_2.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_20.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a72d2a1b3e39b959c9c7a23a9cf54693202ffbc2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_20.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_21.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd9f6c715c2d8d3eb19f4b7cdfa3b5db703a2aaa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_21.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_22.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dbc9e1230553b5a704137b337b95f01c88eee5f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_22.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_23.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a3a0aeba18d0e272b01db1bbe3e6bb27bdf0cf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_23.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_24.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f0fac4bfd32e3a833fcbda4c188ee28afdc8f09
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_24.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+v -0.00380265 -0.01523730 0.00560746
+v -0.00380265 -0.01193342 0.00628286
+v -0.00407823 -0.01523730 0.00555257
+v -0.00407823 -0.01603637 0.00537175
+v -0.00407823 -0.00995050 0.00647552
+v 0.00024430 -0.00995051 0.00695286
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+v 0.00182379 -0.01121250 0.00688183
+v 0.00182379 -0.02180083 0.00376966
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+v -0.00396788 -0.00995050 0.00649490
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+v -0.00407823 -0.01113288 0.00635175
+v -0.00407823 -0.01144396 0.00629901
+f 1 2 3
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+f 20 34 21
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+f 24 35 36
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+f 46 64 65
+f 46 65 66
+f 46 66 48
+f 47 61 60
+f 48 66 49
+f 49 67 50
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+f 50 68 69
+f 50 69 51
+f 51 69 54
+f 52 54 69
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 73
+f 52 73 53
+f 53 74 55
+f 53 73 75
+f 53 75 74
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+f 55 76 77
+f 55 77 56
+f 58 65 59
+f 59 64 60
+f 59 65 64
+f 62 79 80
+f 62 80 81
+f 62 81 63
+f 63 81 82
+f 65 83 67
+f 65 67 66
+f 67 83 84
+f 67 84 68
+f 68 85 69
+f 69 85 70
+f 70 85 86
+f 70 86 87
+f 70 87 71
+f 71 87 81
+f 71 81 80
+f 71 80 72
+f 72 80 73
+f 73 80 88
+f 73 88 89
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+f 75 90 91
+f 75 91 76
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+f 86 95 87
+f 88 94 89
+f 89 96 97
+f 89 97 90
+f 89 94 93
+f 89 92 96
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_25.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..267dcf4b6615c42ca8dc47028077b789576a3ac1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_25.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00102579 0.00969817 0.00704916
+v 0.00037683 0.00969817 0.00701100
+v 0.00118165 0.00969817 0.00704589
+v 0.00182389 0.01110456 0.00689704
+v 0.00102579 0.01107742 0.00689104
+v 0.00022858 0.00969817 0.00699736
+v 0.00182389 0.00969817 0.00702408
+v 0.00182389 0.01151385 0.00680925
+v 0.00102579 0.01148984 0.00680271
+v -0.00219305 0.01614441 0.00561080
+v -0.00275154 0.01201711 0.00636596
+v -0.00275154 0.01119123 0.00650609
+v -0.00275154 0.00979215 0.00656934
+v -0.00275154 0.00969818 0.00656825
+v -0.00275154 0.01061803 0.00653880
+v 0.00182389 0.00969818 0.00432233
+v 0.00182389 0.01614441 0.00562170
+v -0.00138822 0.01614441 0.00564460
+v -0.00138822 0.01697029 0.00539651
+v -0.00213437 0.01702562 0.00533871
+v -0.00275154 0.01689720 0.00532999
+v -0.00275154 0.01614441 0.00555954
+v -0.00275154 0.00969819 0.00377980
+v 0.00182210 0.00969818 0.00431579
+v 0.00182389 0.02036360 0.00155082
+v 0.00182389 0.01697133 0.00538888
+v 0.00182389 0.01743595 0.00524220
+v 0.00182389 0.01784315 0.00509936
+v -0.00210482 0.02036359 0.00420186
+v -0.00219305 0.02036359 0.00419750
+v -0.00275154 0.02036359 0.00414734
+v -0.00275154 0.01054495 0.00357642
+v -0.00275154 0.02036360 0.00147885
+v 0.00182389 0.02036359 0.00415879
+v 0.00111402 0.02036359 0.00417569
+f 1 2 6
+f 1 6 14
+f 1 14 23
+f 1 23 24
+f 1 24 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 9 5
+f 4 7 16
+f 4 16 25
+f 4 25 34
+f 4 34 28
+f 4 28 27
+f 4 27 26
+f 4 26 17
+f 4 17 8
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 13 14
+f 6 12 15
+f 6 15 13
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 21
+f 11 21 31
+f 11 31 33
+f 11 33 32
+f 11 32 23
+f 11 23 14
+f 11 14 13
+f 11 13 15
+f 11 15 12
+f 16 24 25
+f 17 26 18
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 23 32 25
+f 23 25 24
+f 25 33 31
+f 25 31 30
+f 25 30 29
+f 25 29 35
+f 25 35 34
+f 25 32 33
+f 28 34 35
+f 28 35 29
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_26.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57b84c1a3dfb690df37390332da7b81d8f256c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_26.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00545741 0.02359996 -0.00126704
+v 0.00476684 0.02344912 -0.00126704
+v 0.00633866 0.02358107 -0.00126704
+v 0.00646460 0.02317286 -0.00412483
+v 0.00624438 0.02317286 -0.00412483
+v 0.00443053 0.02329534 -0.00126704
+v 0.00699862 0.02332694 -0.00126704
+v 0.00721040 0.02328004 -0.00158706
+v 0.00665985 0.02348985 -0.00158706
+v 0.00707602 0.02317024 -0.00362578
+v 0.00665985 0.02338983 -0.00238851
+v 0.00677840 0.02313311 -0.00412484
+v 0.00617613 0.02311487 -0.00412484
+v 0.00441259 0.02327384 -0.00126704
+v 0.00716432 0.02325364 -0.00126704
+v 0.00722729 0.02325886 -0.00238851
+v 0.00786720 0.02233946 -0.00278770
+v 0.00764628 0.02266949 -0.00246796
+v 0.00714356 0.02320152 -0.00318939
+v 0.00736097 0.02281056 -0.00393211
+v 0.00735007 0.02277083 -0.00412484
+v 0.00689731 0.02307643 -0.00412484
+v 0.00599214 0.02276920 -0.00412484
+v 0.00427363 0.02275158 -0.00126705
+v 0.00590560 0.02255156 -0.00412484
+v 0.00732474 0.02275158 -0.00126705
+v 0.00745596 0.02275159 -0.00158707
+v 0.00786720 0.02233946 -0.00283861
+v 0.00760969 0.02266949 -0.00313933
+v 0.00779403 0.02200551 -0.00246796
+v 0.00786720 0.02233392 -0.00278770
+v 0.00754355 0.02192602 -0.00158707
+v 0.00769131 0.02204397 -0.00412484
+v 0.00503667 0.02027160 -0.00126706
+v 0.00575187 0.02192603 -0.00412484
+v 0.00569382 0.02027390 -0.00412485
+v 0.00739017 0.02192601 -0.00126705
+v 0.00786720 0.02233392 -0.00283861
+v 0.00784996 0.02200551 -0.00313933
+v 0.00776729 0.02192602 -0.00399085
+v 0.00774619 0.02110044 -0.00238852
+v 0.00752667 0.02110044 -0.00158707
+v 0.00750872 0.02027161 -0.00158708
+v 0.00776553 0.02027161 -0.00318941
+v 0.00771558 0.02027161 -0.00238853
+v 0.00740213 0.02156730 -0.00126705
+v 0.00740319 0.02083035 -0.00126705
+v 0.00772930 0.02192603 -0.00412484
+v 0.00739087 0.02027160 -0.00126706
+v 0.00575151 0.02027161 -0.00399366
+v 0.00602697 0.02027162 -0.00412485
+v 0.00780529 0.02110044 -0.00318940
+v 0.00772156 0.02110044 -0.00399085
+v 0.00769131 0.02123827 -0.00412484
+v 0.00771488 0.02027161 -0.00238573
+v 0.00767301 0.02027161 -0.00398834
+v 0.00767301 0.02027455 -0.00399086
+v 0.00603225 0.02027162 -0.00412485
+v 0.00764170 0.02041237 -0.00412485
+v 0.00767266 0.02027161 -0.00399086
+v 0.00763115 0.02027227 -0.00412485
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 34
+f 1 34 49
+f 1 49 47
+f 1 47 46
+f 1 46 37
+f 1 37 26
+f 1 26 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 12
+f 4 12 22
+f 4 22 21
+f 4 21 33
+f 4 33 48
+f 4 48 54
+f 4 54 59
+f 4 59 61
+f 4 61 58
+f 4 58 51
+f 4 51 36
+f 4 36 35
+f 4 35 25
+f 4 25 23
+f 4 23 13
+f 4 13 5
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+f 6 13 14
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+f 9 19 10
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+f 10 19 20
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+f 15 27 17
+f 16 20 19
+f 16 18 28
+f 16 28 29
+f 16 29 20
+f 17 30 31
+f 17 31 38
+f 17 38 28
+f 17 28 18
+f 17 27 32
+f 17 32 30
+f 20 29 21
+f 21 29 28
+f 21 28 33
+f 24 25 35
+f 24 35 36
+f 24 36 34
+f 26 37 32
+f 26 32 27
+f 28 38 39
+f 28 39 40
+f 28 40 33
+f 30 41 31
+f 30 32 42
+f 30 42 43
+f 30 43 41
+f 31 44 38
+f 31 41 45
+f 31 45 44
+f 32 37 46
+f 32 46 47
+f 32 47 42
+f 33 40 48
+f 34 36 50
+f 34 50 51
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+f 34 58 60
+f 34 60 56
+f 34 56 44
+f 34 44 45
+f 34 45 55
+f 34 55 43
+f 34 43 49
+f 36 51 50
+f 38 44 39
+f 39 44 52
+f 39 52 40
+f 40 44 53
+f 40 53 54
+f 40 54 48
+f 40 52 44
+f 41 43 55
+f 41 55 45
+f 42 47 43
+f 43 47 49
+f 44 56 57
+f 44 57 53
+f 53 57 54
+f 54 57 59
+f 56 60 57
+f 57 60 61
+f 57 61 59
+f 58 61 60
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_27.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ec52312d8aa519e1f8460749afd758fc93b90a9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_27.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00182444 0.01505444 -0.00128398
+v 0.00182444 0.01505444 -0.00028398
+v 0.00182444 0.02436072 -0.00128398
+v 0.00182444 0.02436072 -0.00028398
+v 0.00740331 0.01505444 -0.00128398
+v 0.00740331 0.01505444 -0.00028398
+v 0.00740331 0.02436072 -0.00128398
+v 0.00740331 0.02436072 -0.00028398
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+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/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_28.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e02ae772ebaa148a773c66c405af8225717a65
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_28.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00771269 -0.01936417 -0.00005280
+v -0.00753551 -0.01936417 -0.00051878
+v -0.00753551 -0.01936607 -0.00051890
+v -0.00740596 -0.01936607 -0.00005280
+v -0.00667209 0.00007306 -0.00005273
+v -0.00662173 0.00007306 -0.00122790
+v -0.00661898 0.00007306 -0.00126713
+v -0.00701041 -0.01936417 -0.00126720
+v -0.00701041 -0.01936607 -0.00126720
+v -0.00447965 -0.01936607 -0.00005280
+v -0.00490037 0.00007306 -0.00005273
+v -0.00316757 0.00007306 -0.00126713
+v -0.00506152 -0.01936607 -0.00126720
+v -0.00323578 -0.01750512 -0.00126719
+v -0.00327790 -0.01745374 -0.00102338
+v -0.00325180 -0.01688671 -0.00098618
+v -0.00339144 -0.00493514 -0.00037787
+v -0.00339144 -0.00483810 -0.00037787
+v -0.00339601 -0.00077749 -0.00038165
+v -0.00476578 -0.00284966 -0.00005274
+v -0.00328843 0.00007306 -0.00084264
+v -0.00485963 -0.00029418 -0.00005273
+v -0.00305769 -0.00117328 -0.00126713
+v -0.00316574 -0.01720828 -0.00126719
+v -0.00314285 -0.01688671 -0.00126719
+v -0.00319092 -0.00945622 -0.00081533
+v -0.00322983 -0.00453745 -0.00072842
+v -0.00323807 -0.00113142 -0.00074350
+v -0.00304716 -0.00451462 -0.00126715
+v -0.00303618 -0.00945622 -0.00126716
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 22
+f 1 22 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 13
+f 3 13 10
+f 3 10 4
+f 5 11 21
+f 5 21 12
+f 5 12 7
+f 5 7 6
+f 7 12 23
+f 7 23 29
+f 7 29 30
+f 7 30 25
+f 7 25 24
+f 7 24 14
+f 7 14 13
+f 7 13 9
+f 7 9 8
+f 10 13 14
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 11 22 19
+f 11 19 21
+f 12 21 23
+f 14 24 15
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 18 27 19
+f 19 27 28
+f 19 28 21
+f 19 22 20
+f 21 28 23
+f 23 28 27
+f 23 27 29
+f 25 30 26
+f 26 30 27
+f 27 30 29
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_29.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1600ffc8c24fb45df9d313a41cff695a7e5825f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_29.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.00241286 -0.02507561 0.00081674
+v -0.00241286 -0.02503019 0.00059791
+v -0.00219307 -0.02508527 0.00081674
+v -0.00224283 -0.02495434 0.00150995
+v -0.00241286 -0.02498187 0.00132074
+v -0.00241286 -0.02488234 0.00001562
+v -0.00219307 -0.02488186 0.00001562
+v -0.00138812 -0.02507223 0.00081674
+v -0.00069182 -0.02501136 0.00150995
+v -0.00219307 -0.02495628 0.00150995
+v -0.00241286 -0.02494420 0.00150995
+v -0.00241286 -0.02494613 0.00150125
+v -0.00241286 -0.02497559 0.00135391
+v -0.00241286 -0.02484610 -0.00010916
+v -0.00219307 -0.02474464 -0.00042069
+v -0.00177919 -0.02473401 -0.00038807
+v -0.00146194 -0.02482774 -0.00002271
+v -0.00058317 -0.02502343 0.00081674
+v 0.00011230 -0.02499010 0.00150995
+v -0.00241286 -0.02014967 0.00150997
+v -0.00241286 -0.02474609 -0.00042640
+v -0.00241286 -0.02469825 -0.00053569
+v -0.00241286 -0.02455571 -0.00082710
+v -0.00219307 -0.02454847 -0.00082139
+v -0.00146194 -0.02453156 -0.00070749
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_3.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f256a26bb78828f539e4bb1abfac1731a2215bd7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_3.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00270255 -0.00039467 -0.00126713
+v 0.00287735 -0.00043471 -0.00070961
+v 0.00280341 0.00007306 -0.00106767
+v 0.00273541 0.00001540 -0.00126713
+v 0.00271579 -0.00945454 -0.00126716
+v 0.00284814 -0.00945454 -0.00083669
+v 0.00303800 -0.00078871 -0.00038442
+v 0.00303800 -0.00075187 -0.00038442
+v 0.00288237 0.00007306 -0.00082111
+v 0.00275504 0.00007306 -0.00122004
+v 0.00274043 0.00007306 -0.00126713
+v 0.00277831 -0.01440896 -0.00126718
+v 0.00288693 -0.01440896 -0.00093244
+v 0.00406532 -0.01629109 0.00100200
+v 0.00466000 -0.00002304 0.00100206
+v 0.00467095 0.00007306 0.00100206
+v 0.00653666 0.00007306 -0.00126713
+v 0.00280752 -0.01523550 -0.00126719
+v 0.00290336 -0.01523550 -0.00096999
+v 0.00293896 -0.01591947 -0.00103174
+v 0.00289378 -0.01603000 -0.00126719
+v 0.00324200 -0.01629109 -0.00126719
+v 0.00736500 -0.01629109 0.00100200
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+v 0.00735587 -0.01605883 0.00100200
+v 0.00661014 -0.01629109 -0.00126719
+v 0.00645770 -0.00002304 0.00100206
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_30.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..216a086f16a94cf5beda36f178e6fbf968e57611
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_30.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00407823 -0.00994951 0.00361931
+v -0.00216076 -0.00994951 0.00371287
+v -0.00407823 -0.00994952 0.00647573
+v -0.00407823 -0.00278017 0.00436740
+v -0.00219312 0.00007206 0.00470932
+v 0.00182379 -0.00994952 0.00427381
+v 0.00182379 0.00007206 0.00502062
+v -0.00380265 -0.00994952 0.00652359
+v -0.00407823 -0.00828646 0.00684869
+v -0.00407823 0.00007206 0.00466750
+v 0.00182379 -0.00994953 0.00694483
+v 0.00182379 0.00007205 0.00781797
+v 0.00024430 -0.00994953 0.00695259
+v 0.00102596 -0.00862889 0.00738678
+v 0.00051929 -0.00744855 0.00764159
+v -0.00001741 -0.00730137 0.00760667
+v 0.00023910 -0.00700703 0.00770497
+v -0.00407823 -0.00808532 0.00689224
+v -0.00407823 0.00007205 0.00738724
+v 0.00102596 -0.00994953 0.00700735
+v 0.00182379 -0.00863674 0.00738419
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_31.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9884a7f4e8267854871a94358d8f80260fa50a37
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_31.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00372154 0.01877105 0.00136060
+v 0.00757690 0.01877105 0.00136060
+v 0.00412934 0.01877105 -0.00030091
+v 0.00451207 0.00007453 -0.00010744
+v 0.00374092 0.01808293 0.00136060
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+v 0.00755296 0.01877105 0.00126286
+v 0.00698894 0.01877105 -0.00030091
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+v 0.00432812 0.01505408 -0.00030092
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+v 0.00459074 0.00007453 0.00136053
+v 0.00759667 0.01723558 0.00136059
+v 0.00744540 0.01862098 0.00081690
+v 0.00744274 0.01877105 0.00081690
+v 0.00697526 0.01862098 -0.00030091
+v 0.00714667 0.01877105 0.00005022
+v 0.00651044 0.01505408 -0.00030092
+v 0.00660584 0.00007453 0.00136053
+v 0.00656593 0.01531944 -0.00030092
+v 0.00691787 0.01810672 -0.00030091
+v 0.00742450 0.01779560 0.00081690
+v 0.00755410 0.01641020 0.00136059
+v 0.00739675 0.01877105 0.00067443
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+f 1 18 8
+f 1 8 3
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+f 1 4 5
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+f 1 24 14
+f 1 14 6
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+f 15 23 25
+f 18 25 23
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_32.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..425a7d0183bc9883a9770126e107b265ad896cf2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_32.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00052120 -0.02315252 -0.00559491
+v 0.00004495 -0.02315252 -0.00559491
+v -0.00052120 -0.02035084 -0.00559489
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+v -0.00007106 -0.02039779 -0.00559489
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+v 0.00034967 -0.01997614 -0.00634003
+v -0.00049451 -0.01997614 -0.00632993
+v -0.00052120 -0.01997614 -0.00633057
+v 0.00084447 -0.02258099 -0.00559490
+v 0.00226025 -0.02288105 -0.00689898
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_33.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9db615e819c26022494a249b0ded154e8221106
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_33.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_34.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5729047332ee5d20a29adc360b0042e7cb3101e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_34.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_35.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4919676080dfc669dfc602eb9f18796bb52a23
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_35.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+v 0.00756161 0.00015171 -0.00369859
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_36.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..676bfe47dd4c245b9df9d015ef0475d6b869b087
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_36.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00275154 0.00007305 0.00470706
+v -0.00262614 0.00007305 0.00470664
+v -0.00275154 0.00007304 0.00746005
+v -0.00275154 0.00969819 0.00377961
+v -0.00219305 0.00007305 0.00470955
+v 0.00102579 0.00007304 0.00778139
+v 0.00022097 0.00128089 0.00791010
+v -0.00275154 0.00114710 0.00762820
+v -0.00275154 0.00969818 0.00656831
+v 0.00182210 0.00969818 0.00431642
+v 0.00182389 0.00969630 0.00431601
+v 0.00182389 0.00007305 0.00502051
+v 0.00145888 0.00007304 0.00780921
+v 0.00022097 0.00210622 0.00802096
+v -0.00275154 0.00143352 0.00765851
+v 0.00022097 0.00871267 0.00727450
+v 0.00022858 0.00969817 0.00699759
+v -0.00275154 0.00790147 0.00700173
+v 0.00003465 0.00734653 0.00759750
+v 0.00027023 0.00782233 0.00751198
+v 0.00182389 0.00969818 0.00432307
+v 0.00182389 0.00007304 0.00781793
+v 0.00102579 0.00210622 0.00798857
+v 0.00102579 0.00293250 0.00800933
+v 0.00022097 0.00293250 0.00801099
+v -0.00275154 0.00210622 0.00768301
+v 0.00102579 0.00871267 0.00735920
+v 0.00057120 0.00750387 0.00763528
+v 0.00037683 0.00969817 0.00701129
+v -0.00275154 0.00706106 0.00718275
+v -0.00027169 0.00679631 0.00766351
+v 0.00027023 0.00706671 0.00769424
+v 0.00182389 0.00969817 0.00702416
+v 0.00182389 0.00128089 0.00787356
+v 0.00182389 0.00210622 0.00789184
+v 0.00182389 0.00293250 0.00790305
+v 0.00182389 0.00623478 0.00786279
+v 0.00102579 0.00623478 0.00788438
+v -0.00275154 0.00271015 0.00765270
+v 0.00182389 0.00871267 0.00735546
+v 0.00102579 0.00969817 0.00704907
+v 0.00102579 0.00797025 0.00754851
+v 0.00182389 0.00795800 0.00755059
+v 0.00102579 0.00706106 0.00775485
+v 0.00102579 0.00755758 0.00764816
+v -0.00275154 0.00623478 0.00727615
+v 0.00022097 0.00623478 0.00777643
+v 0.00118165 0.00969817 0.00704617
+v 0.00182389 0.00705352 0.00774198
+v 0.00182389 0.00754062 0.00764608
+v 0.00182389 0.00706106 0.00774074
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+f 38 47 39
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+f 42 45 43
+f 43 45 50
+f 44 51 50
+f 44 50 45
+f 44 49 51
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_37.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc75f802d7e89fce2ab3cd4c52a691ce08220953
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_37.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00742544 -0.01957519 0.00100199
+v 0.00738432 -0.02019163 0.00100199
+v 0.00741776 -0.01957519 0.00081673
+v 0.00359761 -0.01957519 0.00100199
+v 0.00720063 -0.02108188 0.00075496
+v 0.00737664 -0.02019163 0.00081673
+v 0.00711180 -0.02154678 0.00100198
+v 0.00711180 -0.02154678 0.00098098
+v 0.00719295 -0.02019163 -0.00038135
+v 0.00717102 -0.01957519 -0.00038135
+v 0.00182379 -0.02094780 0.00001556
+v 0.00182379 -0.02084044 0.00100198
+v 0.00401269 -0.01957519 -0.00038135
+v 0.00683435 -0.02267795 -0.00038136
+v 0.00714744 -0.02086921 -0.00038136
+v 0.00648726 -0.02257521 0.00100198
+v 0.00650700 -0.02326203 -0.00038137
+v 0.00669014 -0.02294816 -0.00038136
+v 0.00182379 -0.02109883 -0.00038136
+v 0.00182379 -0.02482266 0.00100197
+v 0.00626684 -0.02286340 0.00100198
+v 0.00604422 -0.02309610 0.00100198
+v 0.00576348 -0.02333857 0.00100197
+v 0.00510001 -0.02384508 0.00100197
+v 0.00482201 -0.02400022 0.00100197
+v 0.00587040 -0.02353070 -0.00038137
+v 0.00182379 -0.02425091 -0.00038137
+v 0.00183202 -0.02482214 0.00100197
+v 0.00182379 -0.02482214 0.00099113
+v 0.00183147 -0.02482214 0.00099303
+v 0.00442832 -0.02415793 0.00100197
+v 0.00424573 -0.02422471 0.00081671
+v 0.00481598 -0.02399611 0.00081671
+v 0.00470029 -0.02391443 -0.00038137
+v 0.00183147 -0.02443635 0.00001555
+v 0.00182379 -0.02443738 0.00001609
+v 0.00187588 -0.02481855 0.00100197
+v 0.00182379 -0.02482060 0.00098707
+v 0.00344079 -0.02444971 0.00100197
+v 0.00254538 -0.02470862 0.00100197
+v 0.00344079 -0.02445382 0.00081671
+v 0.00231344 -0.02474868 0.00100197
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+f 1 6 3
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+f 1 20 28
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+f 1 37 42
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+f 31 39 32
+f 32 39 40
+f 32 40 41
+f 32 41 34
+f 34 41 40
+f 34 40 42
+f 34 42 37
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_38.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6efc8384ed3f13523f7325332c75c60b2cff325
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_38.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00190356 0.01511984 -0.00834442
+v -0.00170531 0.01511984 -0.00838880
+v -0.00190356 0.01511983 -0.00627626
+v -0.00190356 0.01975615 -0.00861196
+v -0.00160827 0.01511984 -0.00839974
+v 0.00235093 0.01511983 -0.00544581
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+v 0.00235135 0.01531954 -0.00542799
+v -0.00190356 0.01519835 -0.00627689
+v -0.00190356 0.01975614 -0.00676852
+v -0.00168823 0.01975615 -0.00861633
+v -0.00058327 0.01511984 -0.00847944
+v -0.00130298 0.01511984 -0.00843193
+v 0.00235135 0.01511983 -0.00544643
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+v -0.00190356 0.01534995 -0.00627845
+v -0.00190356 0.01973889 -0.00676321
+v -0.00144958 0.01975614 -0.00662006
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+v -0.00113013 0.01975614 -0.00655349
+v -0.00190356 0.01898047 -0.00656411
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+v -0.00058327 0.01975615 -0.00859727
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+v -0.00058327 0.01975614 -0.00647879
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+v 0.00118350 0.01511984 -0.00835911
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+v 0.00073827 0.01975615 -0.00848100
+v 0.00079199 0.01531955 -0.00842506
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+v 0.00129720 0.01975615 -0.00840723
+v 0.00152794 0.01975615 -0.00836910
+v 0.00181616 0.01975615 -0.00831128
+v 0.00098608 0.01975615 -0.00845130
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+f 1 45 40
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+f 1 21 14
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+f 44 46 45
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_39.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b22d395d32debadfd24732beacd4436779c49a65
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_39.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.00306550 -0.01761477 -0.00565752
+v -0.00174230 -0.02184259 -0.00608025
+v -0.00052147 -0.02311570 -0.00638674
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+v -0.00306550 -0.01761476 -0.00812036
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+v -0.00174230 -0.02184855 -0.00608275
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+v -0.00260775 -0.02308427 -0.00758707
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+v -0.00174230 -0.02312869 -0.00746647
+v -0.00138841 -0.02314169 -0.00741743
+v -0.00052147 -0.02314115 -0.00685507
+v -0.00052147 -0.01761476 -0.00846277
+v -0.00299776 -0.01761476 -0.00815285
+v -0.00306550 -0.01854712 -0.00833344
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+v -0.00260775 -0.02308427 -0.00761206
+v -0.00306550 -0.02279443 -0.00792980
+v -0.00219308 -0.02311081 -0.00771891
+v -0.00174230 -0.02312869 -0.00778796
+v -0.00138841 -0.02314169 -0.00784170
+v -0.00057451 -0.02314874 -0.00718093
+v -0.00052147 -0.02314711 -0.00710813
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+v -0.00052147 -0.02184258 -0.00881864
+v -0.00058373 -0.02184258 -0.00882333
+v -0.00138841 -0.02184258 -0.00884894
+v -0.00213754 -0.01761476 -0.00834874
+v -0.00306550 -0.01929094 -0.00847434
+v -0.00292479 -0.02286486 -0.00792636
+v -0.00219308 -0.02298675 -0.00811975
+v -0.00306550 -0.02273863 -0.00805602
+v -0.00138841 -0.02302522 -0.00824222
+v -0.00058373 -0.02314603 -0.00785514
+v -0.00052147 -0.02314819 -0.00718249
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+v -0.00138841 -0.02101641 -0.00877521
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_4.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c6be989806e540e50c347813a8e5ad681396a38
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_4.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00776559 0.02027111 -0.00319008
+v 0.00771524 0.02027111 -0.00238859
+v 0.00767231 0.01511982 -0.00319009
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+v 0.00744018 0.01862260 -0.00158711
+v 0.00729921 0.01862259 -0.00126706
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+v 0.00655353 0.01511981 -0.00126707
+v 0.00730027 0.01511983 -0.00452703
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+v 0.00503674 0.02027110 -0.00126706
+v 0.00280713 0.01531951 -0.00126707
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+v 0.00235135 0.01531953 -0.00542768
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_40.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c54fce2627b53278f19ee06aad7254fe446f0dc6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_40.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00058345 0.02043731 -0.00448315
+v -0.00027293 0.02045638 -0.00448315
+v -0.00058345 0.02043883 -0.00318960
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+v -0.00108470 0.02060960 -0.00238840
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+v -0.00110251 0.02062652 -0.00318960
+v -0.00146502 0.02110066 -0.00318928
+v -0.00109734 0.02062653 -0.00448315
+v 0.00038516 0.02056346 -0.00448315
+v 0.00065029 0.02066375 -0.00318928
+v 0.00055607 0.02062652 -0.00318960
+v 0.00055607 0.02062652 -0.00318928
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+v -0.00058345 0.02047083 -0.00158721
+v -0.00106430 0.02062406 -0.00158721
+v -0.00106660 0.02062652 -0.00157997
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+v -0.00137482 0.02099389 -0.00181419
+v -0.00149403 0.02115173 -0.00181419
+v -0.00145382 0.02110067 -0.00448315
+v -0.00122574 0.02079668 -0.00448315
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+v 0.00064598 0.02066775 -0.00399079
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_41.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35c0d70cd3661e1531669da11d163bb166b0b694
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00691574 -0.01856121 -0.00451039
+v -0.00691574 -0.01856121 -0.00126719
+v -0.00691574 -0.01756121 -0.00451039
+v -0.00691574 -0.01756121 -0.00126719
+v -0.00313532 -0.01856121 -0.00451039
+v -0.00313532 -0.01856121 -0.00126719
+v -0.00313532 -0.01756121 -0.00451039
+v -0.00313532 -0.01756121 -0.00126719
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+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/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_42.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48897be9d61c61a534189f5fe867c78dc18cedd6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_42.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00380285 0.01817583 -0.00611883
+v -0.00400009 0.01817583 -0.00612656
+v -0.00296629 0.01817583 -0.00617964
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+v -0.00336733 0.01817584 -0.00814866
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_43.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51c6882cf2fd7af940e6afc7e5c01ec7df1e75b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_43.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_44.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f9fa6ba7184541564f08d89b00af7985f25a24
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_44.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_45.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6936ec1826869e97bcc5b4232e97d9b97831aca9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_45.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00796555 0.01944846 0.00090364
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+v -0.00793852 0.01862264 0.00090364
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+v -0.00325872 0.01753485 -0.00126707
+v -0.00421137 0.01986047 0.00061042
+v -0.00451059 0.01523040 0.00090363
+v -0.00325208 0.01531994 -0.00098171
+v -0.00753498 0.01944846 -0.00051722
+v -0.00664872 0.01368039 -0.00126708
+v -0.00707549 0.01986047 -0.00126706
+v -0.00736332 0.01368039 0.00090362
+v -0.00314349 0.01531994 -0.00126707
+v -0.00495822 0.01986047 -0.00126706
+v -0.00432091 0.01986047 0.00001547
+v -0.00427823 0.01986047 0.00024219
+v -0.00465711 0.01368039 0.00090362
+v -0.00328053 0.01464355 -0.00101465
+v -0.00344223 0.01368039 -0.00126708
+v -0.00316673 0.01494181 -0.00126708
+v -0.00323074 0.01453102 -0.00126708
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 23
+f 1 23 28
+f 1 28 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 6
+f 3 6 8
+f 4 9 17
+f 4 17 27
+f 4 27 26
+f 4 26 25
+f 4 25 22
+f 4 22 11
+f 4 11 7
+f 4 7 5
+f 6 7 10
+f 6 10 8
+f 7 11 10
+f 8 12 13
+f 8 10 12
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+f 9 15 16
+f 9 16 17
+f 9 18 19
+f 9 19 14
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+f 10 21 12
+f 10 11 20
+f 11 22 21
+f 11 21 20
+f 12 21 13
+f 13 21 23
+f 14 19 15
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+f 15 31 32
+f 15 32 30
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+f 15 21 22
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+f 19 29 24
+f 21 30 28
+f 21 28 23
+f 24 29 31
+f 28 30 29
+f 29 32 31
+f 29 30 32
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_46.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..631794c0a8c45e42700b2090019fe1b99b042d94
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_46.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00736478 -0.01629109 0.00100200
+v 0.00743456 -0.01688796 0.00100200
+v 0.00736173 -0.01688796 0.00081674
+v 0.00729576 -0.01629109 0.00082689
+v 0.00406556 -0.01629109 0.00100200
+v 0.00748642 -0.01771368 0.00100199
+v 0.00716992 -0.01941558 -0.00038135
+v 0.00727517 -0.01629109 0.00077516
+v 0.00409225 -0.01629109 0.00088404
+v 0.00414716 -0.01773779 -0.00038135
+v 0.00359806 -0.01957468 0.00100144
+v 0.00368309 -0.01934487 0.00100199
+v 0.00749367 -0.01853940 0.00100199
+v 0.00717107 -0.01957468 -0.00038135
+v 0.00687706 -0.01772300 -0.00038135
+v 0.00708107 -0.01629109 0.00039490
+v 0.00710815 -0.01629109 0.00044595
+v 0.00410750 -0.01629109 0.00081674
+v 0.00401256 -0.01957468 -0.00038135
+v 0.00430198 -0.01686225 -0.00038134
+v 0.00431990 -0.01957468 0.00100199
+v 0.00746125 -0.01936511 0.00100199
+v 0.00743151 -0.01936511 0.00081673
+v 0.00741778 -0.01957468 0.00081673
+v 0.00657086 -0.01683204 -0.00038134
+v 0.00636151 -0.01629109 -0.00038134
+v 0.00419597 -0.01629109 0.00059573
+v 0.00443468 -0.01629109 0.00001720
+v 0.00472678 -0.01629109 -0.00038134
+v 0.00742541 -0.01957468 0.00100199
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 16
+f 1 16 26
+f 1 26 29
+f 1 29 28
+f 1 28 27
+f 1 27 18
+f 1 18 9
+f 1 9 5
+f 1 5 12
+f 1 12 21
+f 1 21 30
+f 1 30 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 7 14 19
+f 7 19 10
+f 7 10 20
+f 7 20 29
+f 7 29 26
+f 7 26 25
+f 7 25 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 18 10
+f 10 19 11
+f 10 18 20
+f 11 21 12
+f 11 19 14
+f 11 14 24
+f 11 24 30
+f 11 30 21
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 15 25 16
+f 16 25 26
+f 18 27 20
+f 20 27 28
+f 20 28 29
+f 22 30 24
+f 22 24 23
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_47.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c95f4339e59c8526bea284a07c94c174be0e280
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_47.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00182389 0.02075717 0.00136061
+v 0.00182389 0.02103325 0.00000843
+v 0.00372135 0.01877105 0.00136060
+v 0.00182389 0.02491586 0.00136062
+v 0.00412911 0.01877105 -0.00030091
+v 0.00182389 0.02114874 -0.00030090
+v 0.00757765 0.01877105 0.00136060
+v 0.00214267 0.02488759 0.00136062
+v 0.00242709 0.02485331 0.00112545
+v 0.00183121 0.02490022 0.00100835
+v 0.00182389 0.02490083 0.00101371
+v 0.00698910 0.01877105 -0.00030091
+v 0.00182389 0.02436129 -0.00030089
+v 0.00744305 0.01877105 0.00081690
+v 0.00716989 0.01984772 -0.00030091
+v 0.00716088 0.02035658 -0.00030091
+v 0.00757540 0.01888834 0.00136060
+v 0.00240569 0.02484910 0.00136062
+v 0.00424570 0.02429212 0.00081692
+v 0.00540591 0.02381634 -0.00030089
+v 0.00470359 0.02399979 -0.00030089
+v 0.00458700 0.02402506 -0.00030089
+v 0.00259774 0.02479196 0.00136062
+v 0.00183121 0.02450745 0.00001576
+v 0.00182389 0.02450865 0.00001641
+v 0.00182389 0.02490022 0.00100656
+v 0.00716595 0.01950126 -0.00030091
+v 0.00714680 0.01877105 0.00005022
+v 0.00223673 0.02431137 -0.00030089
+v 0.00739686 0.01877105 0.00067459
+v 0.00737940 0.02027477 0.00081690
+v 0.00691419 0.02237938 -0.00030090
+v 0.00750387 0.01971419 0.00136060
+v 0.00369995 0.02444309 0.00136062
+v 0.00482074 0.02408641 0.00136062
+v 0.00622031 0.02345605 -0.00030089
+v 0.00397479 0.02410084 -0.00030089
+v 0.00739912 0.02027477 0.00136060
+v 0.00678578 0.02276494 -0.00030090
+v 0.00711019 0.02161970 0.00133085
+v 0.00711019 0.02161970 0.00100232
+v 0.00734505 0.02054123 0.00136061
+v 0.00571680 0.02337124 0.00136062
+v 0.00647489 0.02333274 -0.00030089
+v 0.00644898 0.02261276 0.00136061
+v 0.00709836 0.02160346 0.00136061
+v 0.00711864 0.02156076 0.00136061
+f 1 2 3
+f 1 3 7
+f 1 7 17
+f 1 17 33
+f 1 33 38
+f 1 38 42
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+f 1 47 46
+f 1 46 45
+f 1 45 43
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+f 1 23 18
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+f 1 8 4
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+f 1 25 13
+f 1 13 6
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+f 3 14 7
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+f 5 22 21
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+f 9 21 22
+f 9 22 10
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+f 9 23 19
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+f 10 25 26
+f 10 26 11
+f 10 22 24
+f 12 27 28
+f 13 25 29
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+f 14 27 15
+f 16 31 17
+f 16 32 31
+f 17 31 33
+f 19 23 34
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 22 37 25
+f 22 25 24
+f 25 37 29
+f 27 30 28
+f 31 38 33
+f 31 32 38
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 38
+f 35 43 44
+f 35 44 36
+f 39 44 40
+f 40 44 45
+f 40 45 46
+f 40 46 47
+f 40 47 42
+f 40 42 41
+f 43 45 44
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_48.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aee55c2cbf8ecf3867d7cc555aa370123eeaf43
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_48.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00247511 -0.01674969 -0.00491653
+v 0.00247770 -0.01688784 -0.00491653
+v 0.00259900 -0.01936507 -0.00238862
+v 0.00264669 -0.01688785 -0.00238861
+v 0.00265084 -0.01674970 -0.00238861
+v 0.00714713 -0.01674969 -0.00491653
+v 0.00256479 -0.01854107 -0.00491654
+v 0.00258552 -0.01936507 -0.00318958
+v 0.00268816 -0.01936507 -0.00158730
+v 0.00281516 -0.02004081 -0.00238862
+v 0.00283330 -0.02004813 -0.00158730
+v 0.00287011 -0.02010989 -0.00126756
+v 0.00281568 -0.01680691 -0.00150976
+v 0.00281827 -0.01674970 -0.00150976
+v 0.00724303 -0.01674969 -0.00473861
+v 0.00736640 -0.02031325 -0.00491654
+v 0.00268090 -0.01937413 -0.00491654
+v 0.00266017 -0.01936506 -0.00479221
+v 0.00259693 -0.01936507 -0.00399089
+v 0.00279546 -0.01936508 -0.00126756
+v 0.00286129 -0.01691053 -0.00126755
+v 0.00282967 -0.01998813 -0.00318958
+v 0.00313499 -0.02022292 -0.00126756
+v 0.00306346 -0.01674971 -0.00126755
+v 0.00753539 -0.01674970 -0.00399088
+v 0.00742549 -0.02031325 -0.00479221
+v 0.00517320 -0.02031325 -0.00491654
+v 0.00298311 -0.01981892 -0.00491654
+v 0.00296548 -0.01983218 -0.00479221
+v 0.00287581 -0.01991487 -0.00399089
+v 0.00344083 -0.02020233 -0.00238862
+v 0.00344083 -0.02031083 -0.00126756
+v 0.00671430 -0.01674971 -0.00126755
+v 0.00768157 -0.01674970 -0.00318957
+v 0.00767586 -0.02031326 -0.00399089
+v 0.00503220 -0.02031327 -0.00126756
+v 0.00712847 -0.01773976 -0.00126756
+v 0.00723629 -0.01674970 -0.00182057
+v 0.00759811 -0.01674970 -0.00252293
+v 0.00765202 -0.01771394 -0.00238862
+v 0.00767431 -0.01853933 -0.00238862
+v 0.00771941 -0.02031326 -0.00238862
+v 0.00777072 -0.02031326 -0.00318958
+v 0.00739024 -0.02031327 -0.00126756
+v 0.00717979 -0.01792431 -0.00126756
+v 0.00729072 -0.01674970 -0.00189881
+v 0.00756338 -0.01674970 -0.00238861
+v 0.00758204 -0.01688785 -0.00238861
+v 0.00744208 -0.01853933 -0.00158730
+v 0.00748770 -0.01936507 -0.00158730
+v 0.00750947 -0.02019081 -0.00158730
+v 0.00751206 -0.02031326 -0.00158730
+v 0.00739387 -0.02019082 -0.00126756
+v 0.00723266 -0.01813223 -0.00126756
+v 0.00730005 -0.01853934 -0.00126756
+v 0.00734204 -0.01887075 -0.00126756
+v 0.00737055 -0.01938427 -0.00126756
+v 0.00738091 -0.01969475 -0.00126756
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 24
+f 1 24 33
+f 1 33 38
+f 1 38 46
+f 1 46 47
+f 1 47 39
+f 1 39 34
+f 1 34 25
+f 1 25 15
+f 1 15 6
+f 1 6 16
+f 1 16 27
+f 1 27 28
+f 1 28 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 4
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+f 3 10 11
+f 3 11 12
+f 3 12 9
+f 4 9 5
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+f 5 13 14
+f 6 15 16
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+f 22 32 23
+f 25 34 35
+f 25 35 26
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+f 27 29 28
+f 33 37 38
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+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 35
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+f 37 46 38
+f 39 47 48
+f 39 48 40
+f 40 48 49
+f 40 49 50
+f 40 50 41
+f 41 50 51
+f 41 51 42
+f 42 51 52
+f 44 52 53
+f 45 54 46
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+f 47 54 55
+f 47 55 48
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+f 49 55 56
+f 49 56 57
+f 49 57 50
+f 50 57 58
+f 50 58 51
+f 51 58 53
+f 51 53 52
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_49.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31175301c0f14149c6615b1d254706cceae8e003
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_49.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.00275154 0.02513442 0.00081694
+v -0.00275154 0.02492327 -0.00006277
+v -0.00306194 0.02492172 -0.00006250
+v -0.00299833 0.02512099 0.00081694
+v -0.00275154 0.02511789 0.00090366
+v -0.00275154 0.02482518 -0.00041523
+v -0.00283601 0.02482518 -0.00041523
+v -0.00337284 0.02481434 -0.00038118
+v -0.00380333 0.02489798 0.00012823
+v -0.00431675 0.02484945 0.00029529
+v -0.00380333 0.02500019 0.00081694
+v -0.00312656 0.02508847 0.00090366
+v -0.00299833 0.02510447 0.00090366
+v -0.00275154 0.02093013 0.00090365
+v -0.00275154 0.02467754 -0.00072328
+v -0.00306194 0.02468425 -0.00072328
+v -0.00380333 0.02459959 -0.00078552
+v -0.00380333 0.02478285 -0.00027212
+v -0.00460832 0.02444110 -0.00078552
+v -0.00459458 0.02468941 0.00002316
+v -0.00541230 0.02437347 0.00001544
+v -0.00477014 0.02472503 0.00081694
+v -0.00436764 0.02486700 0.00081694
+v -0.00380333 0.02498677 0.00090366
+v -0.00435695 0.02486390 0.00090366
+v -0.00390102 0.02497128 0.00090366
+v -0.00275154 0.02101789 0.00001543
+v -0.00420582 0.01986047 0.00090364
+v -0.00421142 0.01986047 0.00061023
+v -0.00275154 0.02428519 -0.00126701
+v -0.00300647 0.02429707 -0.00126701
+v -0.00380333 0.02427590 -0.00126701
+v -0.00386032 0.02421447 -0.00134867
+v -0.00460832 0.02414839 -0.00131861
+v -0.00460832 0.02417678 -0.00126701
+v -0.00506578 0.02407921 -0.00126701
+v -0.00517365 0.02406269 -0.00125450
+v -0.00542909 0.02415149 -0.00077887
+v -0.00541230 0.02442252 0.00081694
+v -0.00587281 0.02402759 -0.00050701
+v -0.00595117 0.02408696 0.00001544
+v -0.00468160 0.02474878 0.00090366
+v -0.00275154 0.02126827 -0.00068099
+v -0.00427859 0.01986047 0.00024206
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+v -0.00635367 0.02375914 0.00001544
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+v -0.00495790 0.01986047 -0.00126703
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+v -0.00794077 0.02027501 0.00090364
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+v -0.00671699 0.02249849 -0.00181394
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+v -0.00636792 0.02376585 0.00081694
+v -0.00627785 0.02381903 0.00090366
+v -0.00690475 0.02281803 -0.00084193
+v -0.00740698 0.02228733 -0.00023994
+v -0.00721617 0.02268484 0.00002235
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+v -0.00707572 0.01986047 -0.00126703
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+v -0.00677092 0.02333840 0.00090366
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_5.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2905d1a3778518a8e8dbafbee41564dd3bfa20b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.00275154 0.02036464 0.00147859
+v 0.00182389 0.02036464 0.00155032
+v -0.00275154 0.02036463 0.00414715
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+v -0.00219305 0.02110044 0.00403635
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+v -0.00275154 0.02175731 -0.00095068
+v -0.00116429 0.02073490 -0.00126652
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+v 0.00111402 0.02036463 0.00417552
+v 0.00077767 0.02087351 -0.00126652
+v 0.00182389 0.02127571 -0.00062413
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_50.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26368edbe2494f74901df2b8ed01ac3a5f6b2ef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_50.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00717469 -0.02422875 -0.00202382
+v -0.00717469 -0.02422875 -0.00102382
+v -0.00717469 -0.01850810 -0.00202382
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+v -0.00269978 -0.01850810 -0.00202382
+v -0.00269978 -0.01850810 -0.00102382
+f 2 4 1
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+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/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_51.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e920a5b4bfa1c2582fd61b430cc4e007bf9fb6e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_51.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00501854 -0.01850851 -0.00178043
+v -0.00494472 -0.01879008 -0.00451039
+v -0.00508839 -0.01850850 -0.00451039
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+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_52.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008ecede1f2dd75ceac4b29ff70af6005ebb14fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_52.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00386031 0.02062647 -0.00204049
+v -0.00386031 0.02062647 -0.00104049
+v -0.00386031 0.02429773 -0.00204049
+v -0.00386031 0.02429773 -0.00104049
+v 0.00176059 0.02062647 -0.00204049
+v 0.00176059 0.02062647 -0.00104049
+v 0.00176059 0.02429773 -0.00204049
+v 0.00176059 0.02429773 -0.00104049
+f 2 4 1
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+f 3 5 1
+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/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_53.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bef1521c947ce40351b5ec8c640523a4af8a34c9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_53.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00517375 -0.02031325 -0.00491689
+v 0.00583148 -0.02031326 -0.00287765
+v 0.00736663 -0.02031325 -0.00491689
+v 0.00526162 -0.02184273 -0.00491690
+v 0.00595413 -0.02266839 -0.00287766
+v 0.00591046 -0.02184274 -0.00287766
+v 0.00774976 -0.02031326 -0.00287765
+v 0.00742547 -0.02031325 -0.00479233
+v 0.00742259 -0.02101708 -0.00491690
+v 0.00536152 -0.02233943 -0.00491690
+v 0.00604044 -0.02295483 -0.00287766
+v 0.00777068 -0.02031326 -0.00318985
+v 0.00781776 -0.02184274 -0.00287766
+v 0.00784522 -0.02184274 -0.00318986
+v 0.00767575 -0.02031326 -0.00399109
+v 0.00748117 -0.02101708 -0.00479234
+v 0.00747778 -0.02184273 -0.00491690
+v 0.00551033 -0.02257823 -0.00491690
+v 0.00611863 -0.02316795 -0.00287767
+v 0.00776702 -0.02184274 -0.00399110
+v 0.00771942 -0.02101709 -0.00399110
+v 0.00774505 -0.02216427 -0.00287766
+v 0.00756303 -0.02266839 -0.00287766
+v 0.00754682 -0.02266839 -0.00318986
+v 0.00753609 -0.02184273 -0.00479234
+v 0.00728268 -0.02252402 -0.00491690
+v 0.00569758 -0.02274655 -0.00491690
+v 0.00636944 -0.02320504 -0.00287767
+v 0.00624678 -0.02308634 -0.00443544
+v 0.00731066 -0.02255369 -0.00479234
+v 0.00742129 -0.02286639 -0.00287766
+v 0.00714485 -0.02311859 -0.00318986
+v 0.00736140 -0.02273059 -0.00393521
+v 0.00722174 -0.02256282 -0.00491690
+v 0.00587777 -0.02280361 -0.00491690
+v 0.00665999 -0.02322786 -0.00287767
+v 0.00644711 -0.02296652 -0.00491690
+v 0.00629673 -0.02308634 -0.00443544
+v 0.00707607 -0.02308692 -0.00363100
+v 0.00683312 -0.02304754 -0.00416496
+v 0.00717598 -0.02314113 -0.00287767
+v 0.00662442 -0.02290204 -0.00491690
+v 0.00660298 -0.02297365 -0.00473845
+f 1 2 7
+f 1 7 12
+f 1 12 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 26
+f 1 26 34
+f 1 34 42
+f 1 42 37
+f 1 37 35
+f 1 35 27
+f 1 27 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 11
+f 2 11 19
+f 2 19 28
+f 2 28 36
+f 2 36 41
+f 2 41 31
+f 2 31 23
+f 2 23 22
+f 2 22 13
+f 2 13 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 7 13 14
+f 7 14 12
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 12 14 20
+f 12 20 21
+f 12 21 15
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 20
+f 15 21 25
+f 15 25 16
+f 16 25 17
+f 17 25 26
+f 18 27 19
+f 19 27 29
+f 19 29 28
+f 20 24 30
+f 20 30 25
+f 20 25 21
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 24 33 30
+f 25 30 26
+f 26 30 34
+f 27 35 29
+f 28 29 36
+f 29 35 37
+f 29 37 38
+f 29 38 36
+f 30 33 39
+f 30 39 40
+f 30 40 34
+f 31 41 32
+f 32 39 33
+f 32 41 36
+f 32 36 39
+f 34 40 42
+f 36 38 39
+f 37 43 40
+f 37 40 38
+f 37 42 43
+f 38 40 39
+f 40 43 42
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_54.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d1e273c2ef3f5d22e2f41377afacd36f49f6d9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_54.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00058359 -0.02036005 -0.00451039
+v -0.00052147 -0.01985417 -0.00638640
+v -0.00058359 -0.01985804 -0.00638640
+v -0.00108320 -0.02052803 -0.00451040
+v -0.00052147 -0.02036586 -0.00451039
+v -0.00052147 -0.02311592 -0.00638641
+v -0.00135320 -0.02022211 -0.00638640
+v -0.00174195 -0.02065402 -0.00638641
+v -0.00132811 -0.02084364 -0.00451040
+v -0.00136646 -0.02023536 -0.00638640
+v -0.00052147 -0.02315371 -0.00451041
+v -0.00052147 -0.02312335 -0.00627752
+v -0.00052625 -0.02311495 -0.00638641
+v -0.00174195 -0.02101712 -0.00618919
+v -0.00170001 -0.02184249 -0.00451040
+v -0.00161782 -0.02155175 -0.00451040
+v -0.00146084 -0.02101712 -0.00451040
+v -0.00174195 -0.02235645 -0.00638641
+v -0.00063293 -0.02315436 -0.00451041
+v -0.00052147 -0.02315307 -0.00555217
+v -0.00052147 -0.02314661 -0.00583313
+v -0.00095573 -0.02307295 -0.00559384
+v -0.00085048 -0.02304226 -0.00638641
+v -0.00174195 -0.02184249 -0.00607974
+v -0.00174195 -0.02184862 -0.00608213
+v -0.00128116 -0.02272116 -0.00451040
+v -0.00147995 -0.02262134 -0.00638641
+v -0.00098811 -0.02308297 -0.00451040
+v -0.00055337 -0.02315274 -0.00559385
+v -0.00097688 -0.02308555 -0.00451040
+v -0.00097867 -0.02307909 -0.00505947
+v -0.00052147 -0.02315274 -0.00559385
+v -0.00145236 -0.02264072 -0.00638641
+v -0.00098811 -0.02308297 -0.00452527
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 16
+f 1 16 15
+f 1 15 26
+f 1 26 28
+f 1 28 30
+f 1 30 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 11
+f 2 11 20
+f 2 20 32
+f 2 32 21
+f 2 21 12
+f 2 12 6
+f 2 6 13
+f 2 13 23
+f 2 23 33
+f 2 33 27
+f 2 27 18
+f 2 18 8
+f 2 8 10
+f 2 10 7
+f 2 7 3
+f 3 7 4
+f 4 8 9
+f 4 7 10
+f 4 10 8
+f 6 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 8 18 25
+f 8 25 24
+f 8 24 14
+f 11 19 20
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 14 24 15
+f 15 24 25
+f 15 25 18
+f 15 18 26
+f 18 27 28
+f 18 28 26
+f 19 29 20
+f 19 30 31
+f 19 31 29
+f 20 29 32
+f 21 32 29
+f 21 29 22
+f 22 29 31
+f 22 31 27
+f 22 27 33
+f 22 33 23
+f 27 31 34
+f 27 34 28
+f 28 34 30
+f 30 34 31
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_55.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d54812dbc74ba61dd221b0e7292a71e0a26080d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_55.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00666035 0.01754722 -0.00448317
+v -0.00665831 0.01696115 -0.00448317
+v -0.00693631 0.01810707 -0.00126706
+v -0.00693386 0.01819621 -0.00126706
+v -0.00651219 0.01819623 -0.00448316
+v -0.00649103 0.01511983 -0.00448317
+v -0.00656755 0.01511982 -0.00385135
+v -0.00665709 0.01511982 -0.00218474
+v -0.00669861 0.01511981 -0.00126707
+v -0.00658220 0.01511982 -0.00357935
+v -0.00485074 0.01819621 -0.00126706
+v -0.00514908 0.01819623 -0.00448316
+v -0.00278836 0.01511983 -0.00448317
+v -0.00315550 0.01511981 -0.00126707
+v -0.00325888 0.01753485 -0.00126707
+v -0.00320800 0.01758877 -0.00158723
+v -0.00315712 0.01763003 -0.00238842
+v -0.00483486 0.01819622 -0.00158722
+v -0.00485806 0.01819622 -0.00232829
+v -0.00311764 0.01760535 -0.00448317
+v -0.00277819 0.01531950 -0.00448317
+v -0.00281319 0.01511982 -0.00399081
+v -0.00309851 0.01511982 -0.00141818
+v -0.00302199 0.01531949 -0.00158723
+v -0.00314369 0.01531948 -0.00126707
+v -0.00312131 0.01697077 -0.00126707
+v -0.00299879 0.01697078 -0.00158723
+v -0.00289338 0.01697078 -0.00238842
+v -0.00284168 0.01697078 -0.00318962
+v -0.00280546 0.01697078 -0.00399081
+v -0.00278755 0.01697079 -0.00448317
+v -0.00313433 0.01762823 -0.00318962
+v -0.00312253 0.01761407 -0.00399081
+v -0.00280342 0.01531949 -0.00399081
+v -0.00277941 0.01614530 -0.00448317
+v -0.00285105 0.01531949 -0.00318962
+v -0.00286488 0.01511982 -0.00318962
+v -0.00307491 0.01511982 -0.00150633
+v -0.00305740 0.01511982 -0.00157181
+v -0.00292716 0.01511982 -0.00238842
+v -0.00290844 0.01531949 -0.00238842
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 20
+f 1 20 31
+f 1 31 35
+f 1 35 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
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+f 3 14 25
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+f 3 15 11
+f 3 11 4
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+f 4 12 5
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+f 6 38 23
+f 6 23 14
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+f 11 16 17
+f 11 17 18
+f 12 19 20
+f 13 21 22
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+f 16 28 17
+f 17 28 29
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+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 19
+f 19 32 33
+f 19 33 20
+f 20 33 31
+f 21 29 34
+f 21 34 22
+f 21 35 29
+f 22 34 36
+f 22 36 37
+f 23 38 24
+f 24 27 25
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 27
+f 25 27 26
+f 27 41 28
+f 28 41 36
+f 28 36 29
+f 29 36 34
+f 29 35 30
+f 30 35 31
+f 31 33 32
+f 36 41 37
+f 37 41 40
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_56.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a50402778bc878a7bf46ec9bdb449477b8ec837
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_56.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00190377 0.01511984 -0.00834460
+v -0.00219336 0.01511984 -0.00828082
+v -0.00302356 0.01817554 -0.00824185
+v -0.00256792 0.01817554 -0.00834192
+v -0.00190377 0.01531967 -0.00834957
+v -0.00190377 0.01511983 -0.00627639
+v -0.00280354 0.01511984 -0.00808106
+v -0.00400009 0.01817554 -0.00794355
+v -0.00336733 0.01817554 -0.00814866
+v -0.00217489 0.01817554 -0.00836980
+v -0.00190377 0.01738223 -0.00838509
+v -0.00190377 0.01563945 -0.00835644
+v -0.00190377 0.01534987 -0.00627830
+v -0.00277953 0.01614528 -0.00448355
+v -0.00277891 0.01582670 -0.00448355
+v -0.00277829 0.01531966 -0.00448355
+v -0.00278835 0.01511983 -0.00448355
+v -0.00299790 0.01511984 -0.00801690
+v -0.00360459 0.01511984 -0.00772433
+v -0.00400009 0.01511984 -0.00749554
+v -0.00400009 0.01817553 -0.00612666
+v -0.00210388 0.01817554 -0.00837247
+v -0.00190377 0.01758175 -0.00838509
+v -0.00190377 0.01730115 -0.00630427
+v -0.00278753 0.01697090 -0.00448355
+v -0.00400009 0.01511983 -0.00448355
+v -0.00400009 0.01764247 -0.00448355
+v -0.00397258 0.01817553 -0.00612551
+v -0.00190377 0.01817554 -0.00837973
+v -0.00190377 0.01809387 -0.00639974
+v -0.00311755 0.01760537 -0.00448355
+v -0.00190377 0.01817553 -0.00641388
+v -0.00380285 0.01764426 -0.00448355
+v -0.00380285 0.01817553 -0.00611863
+v -0.00338026 0.01762272 -0.00448355
+v -0.00263688 0.01817553 -0.00624811
+v -0.00296629 0.01817553 -0.00617975
+f 1 2 3
+f 1 3 4
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+f 1 12 11
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+f 1 23 29
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+f 1 30 24
+f 1 24 13
+f 1 13 6
+f 1 6 17
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+f 1 26 20
+f 1 20 19
+f 1 19 18
+f 1 18 7
+f 1 7 2
+f 2 7 8
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+f 3 9 8
+f 3 8 21
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+f 3 37 36
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+f 3 22 10
+f 3 10 4
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+f 4 11 12
+f 4 12 5
+f 6 13 14
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+f 6 16 17
+f 7 18 8
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+f 10 22 23
+f 10 23 11
+f 13 24 14
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+f 14 35 33
+f 14 33 27
+f 14 27 26
+f 14 26 17
+f 14 17 16
+f 14 16 15
+f 14 24 25
+f 21 27 28
+f 22 29 23
+f 24 30 25
+f 25 30 32
+f 25 32 31
+f 27 33 34
+f 27 34 28
+f 31 32 36
+f 31 36 37
+f 31 37 35
+f 33 35 37
+f 33 37 34
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_57.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6897777495dba9d271747d307f814bde164da133
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_57.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00774967 -0.02031326 -0.00287765
+v 0.00771942 -0.02031326 -0.00238834
+v 0.00781782 -0.02184296 -0.00287766
+v 0.00583150 -0.02031326 -0.00287765
+v 0.00777470 -0.02184296 -0.00238835
+v 0.00751220 -0.02031326 -0.00158721
+v 0.00758869 -0.02266831 -0.00238835
+v 0.00774515 -0.02216441 -0.00287766
+v 0.00591043 -0.02184296 -0.00287766
+v 0.00426623 -0.02266832 -0.00126737
+v 0.00503253 -0.02031327 -0.00126736
+v 0.00752646 -0.02101698 -0.00158722
+v 0.00754280 -0.02184296 -0.00158722
+v 0.00745240 -0.02266831 -0.00158722
+v 0.00739051 -0.02031327 -0.00126736
+v 0.00756296 -0.02266831 -0.00287766
+v 0.00720763 -0.02320014 -0.00158723
+v 0.00722467 -0.02317656 -0.00238836
+v 0.00595423 -0.02266831 -0.00287766
+v 0.00444286 -0.02321225 -0.00126738
+v 0.00604046 -0.02295470 -0.00287766
+v 0.00739608 -0.02098721 -0.00126737
+v 0.00738912 -0.02184297 -0.00126737
+v 0.00736722 -0.02226433 -0.00126737
+v 0.00732306 -0.02266832 -0.00126737
+v 0.00726083 -0.02296433 -0.00126737
+v 0.00716417 -0.02317439 -0.00126738
+v 0.00742111 -0.02286627 -0.00287766
+v 0.00666872 -0.02337701 -0.00126738
+v 0.00666003 -0.02341547 -0.00158723
+v 0.00717599 -0.02314118 -0.00287767
+v 0.00503948 -0.02340090 -0.00126738
+v 0.00611834 -0.02316787 -0.00287767
+v 0.00581794 -0.02348281 -0.00126738
+v 0.00666003 -0.02331029 -0.00238836
+v 0.00666003 -0.02322775 -0.00287767
+v 0.00636937 -0.02320479 -0.00287767
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 31
+f 1 31 36
+f 1 36 37
+f 1 37 33
+f 1 33 21
+f 1 21 19
+f 1 19 9
+f 1 9 4
+f 1 4 11
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+f 1 15 6
+f 1 6 2
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+f 17 27 29
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+f 17 30 18
+f 18 30 31
+f 18 31 28
+f 20 21 33
+f 20 33 32
+f 29 34 30
+f 30 35 31
+f 30 34 35
+f 31 35 36
+f 32 33 37
+f 32 37 34
+f 34 37 36
+f 34 36 35
+
diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_6.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44057d65175b017cfcf8349a43e328009139a59d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_6.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_7.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d3399457c75b75ad20e1d6757df06a7551ecd0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_7.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_8.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a9ca146f4379c7ef70434b8e9284e9dc06a0a61
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_8.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_9.obj b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/mjcf/mesh/hair_clip_010_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/textures/material_0.png b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/video.mp4 b/dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/video.mp4
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