diff --git a/.gitattributes b/.gitattributes
index 84cefac63be889ff7e8763afa8524fa92f5c612a..57e87dd40dab3654fb486a2c63df1435b491e7fd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2611,3 +2611,5 @@ dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/to
 dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/toothpaste_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/comb_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/mesh/comb_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d9d7747cfb97e8ff2a7d895d9c885d66226aee5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_031_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.glb b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c8752861d6b354833772cc170f25792d48ebac3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.glb
@@ -0,0 +1,3 @@
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+size 13695100
diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.mtl b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..782d1152e989dcaa348a4628c0bdfd40d7383bd9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.mtl
@@ -0,0 +1,6 @@
+newmtl mouthwash_cup_031_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..500b228c3648481ca582fad8f1e5805535262176
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031.obj
@@ -0,0 +1,108940 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_031_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031_collision.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50938cf571ebc6e1ef7b8824557aa39232d79809
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mesh/mouthwash_cup_031_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e6b911ea9c0067af661e42e3020127eeda307f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_0.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6baad5d3f17001535bbb8507a7a5ed443af5b4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_1.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b7d4787062151864c8937b73b924eab915c376
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_10.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda2fcabf98f2b6a5ce8182ccc329d532d327088
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_11.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c96c4eff17c1b4da5d33e5c388902f65e6fc83ff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_11.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_12.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18fbcc65f02396cecc8b9aba1944945db076991b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_12.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_13.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee6bca602ff16334eff02b8145841341ba5c4cd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_13.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_14.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c22925ba6131ebc5f07e7d626fce090573272045
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_14.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_15.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34a168702c9f17211e0c6a562b52b96df50bbb36
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_15.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_16.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3e4ab25989b5eb6c0c256e1821c975ff5807efb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_16.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_17.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ceceecd7c94225042ec1fc1eed8f095adb0d55e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_17.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_18.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c203d49c4d0754b0800d49fcee0c968b03946d99
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_18.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_2.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbac33864b916697d213512ab8791c01180cf7eb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_2.obj
@@ -0,0 +1,6430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_3.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..528b0c92a09bba01591fa2397d4a775abf0ce03c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_4.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23823236f0e0c26a52c466e411136e1953612331
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_4.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_5.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6bd730af3d540a88948925700ebbfeefbb601a8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_5.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.01451502 -0.04331180 0.03903463
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+
diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_6.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7981b9b5499396ecc04d9d7aeabbe8a97d71d213
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_6.obj
@@ -0,0 +1,655 @@
+# https://github.com/mikedh/trimesh
+v 0.01810693 -0.03600069 -0.00381999
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+v 0.02453239 0.04057229 -0.00381971
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_7.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de70e3165c75d4a91b37c9648908ed5eaed70e5d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_8.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb1b3d44c2054308c14475fed42b44c6fde6e7e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_8.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_9.obj b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80fbf796d160673a35a8ee35a0ae7ed7b078800d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mesh/mouthwash_cup_031_collision_9.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mouthwash_cup_031.xml b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mouthwash_cup_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b7cc96cee0634782aeb402b06c05fd7d882e80f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mjcf/mouthwash_cup_031.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_031">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mouthwash_cup_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_031_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_031_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_031_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_031_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_031_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_031_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_031_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_031_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mouthwash_cup_031_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_031_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_031_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_031">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.urdf b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ebd41a1918bc71305f5573cad307ffc6955d7a2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_031">
+   <link name="mouthwash_cup_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_031.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>c66c649fdfa85e69bcb6ce80ce91b729</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>square mouthwash cup</name>
+         <color>gray,transparent</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>translucent square plastic mouthwash cup with dark lid</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611122841</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.044212 -0.043101 -0.061502</min>
+            <max>0.044199 0.043091 0.058498</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.usd b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5830f732208dbe20622d129699a6d6243e7ae712673dcc4ea78125eb50489305
+size 4759254
diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/textures/material_0.png b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e5e24d182147e6058509516bdae47859fd595daaf54dbedb66e8a1818e6494
+size 10606307
diff --git a/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/video.mp4 b/dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/video.mp4
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 355555