diff --git a/.gitattributes b/.gitattributes
index 2bbaf38866a2ac9c21db80c1dbb2ebb06227e132..3bd7327fdd0c72664f8dfb93121e86879818ff50 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2623,5 +2623,5 @@ dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/mesh/to
 dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/toothbrush_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/nail_clipper_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/nail_clipper_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/de2585cc44bb573982a59a874158fa0b/mesh/razor_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/de2585cc44bb573982a59a874158fa0b/razor_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mouthwash_cup_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b26511dfedef4247743d359665e0b2f6957711a6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_013_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd mouthwash_cup_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..799b8ff9dd61e388d10a98845b9afae01c767a6e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:960f596ba28ef9581a82b420d58f7e72a286656dc1675846e059d321fadaac4d
+size 8984330
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.glb b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..36323ae190c0bd4776571f4ce5fc6e81b13b14f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7451428d4bbe0e9a2a9f56670b6afe3f54ab585cf33dcf42f07038a4d637d64
+size 12102368
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.mtl b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a0b89ca416455edc4938eb6397593fc0bebfa62
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.mtl
@@ -0,0 +1,6 @@
+newmtl mouthwash_cup_013_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/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be6f08674359eb4ea896c9a3210d097ef7a0cf84
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013.obj
@@ -0,0 +1,105194 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_013_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013_collision.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f115d5774da5ef61613391ad3e5e4040642e23
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013_collision.obj
@@ -0,0 +1,26458 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v -0.02944888 -0.02425241 0.00002736
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mesh/mouthwash_cup_013_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63648f102fbf73f5a601c0593e40292afc0eb75
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_0.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d136bef816ce85c4c92351f2323d8eb00b052628
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_1.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06889004ab3188844e6689a60dcf8972428dfb9c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_10.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506eb93ed76484ffd53ef04de0a0babdc3813068
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_10.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.02753099 -0.01093050 -0.02036137
+v -0.02774718 -0.01036607 -0.02036137
+v -0.02222209 -0.01093050 -0.02036137
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+
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_11.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..342a404a26aedee16af36637e11f483946b88b42
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_11.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02847548 0.01095845 -0.00800158
+v 0.02828679 0.01146711 -0.00800158
+v 0.02504546 0.01095845 -0.00800158
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+
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_12.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3adf255288e57e94bcdd5e5290ed7872dad2385
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_12.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00741086 -0.02656954 -0.00846258
+v -0.00493214 -0.02712316 -0.00846258
+v 0.00741086 -0.02977740 -0.00846259
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+
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_13.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09699629216d2c62991b272dfc0ce3f57fb49afc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_13.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01986455 -0.01215329 -0.02424371
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_14.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a14ab8ac319d97b84cf637242d03a59da7e840
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_14.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_15.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041dc55b8ba303eed66a76bcac3b73e3fae060eb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_15.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_16.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f80a4f6a24842aae9e75a8a90af4892ac6f0f9c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_16.obj
@@ -0,0 +1,883 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_17.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22d1c80c9468e097b2fcd89f83eb38d43b808151
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_17.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_18.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8331600191531e14bd5cde879ea6b0ff0bff828
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_18.obj
@@ -0,0 +1,1081 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_19.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70a69d12fdc43408fb6eb4705fc52f67246220f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_19.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_2.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53aa85c657158773aeea2feb4fa2c620095eac98
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_2.obj
@@ -0,0 +1,1177 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_20.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad2ff407fce58b0bd55d10c269735412fdca736
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_20.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_21.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9942b412ebe5ae1e0d7908a58184d9d678d84cc9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_21.obj
@@ -0,0 +1,988 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_22.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..def991ecf27b71b7754142162af3612511b3008c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_22.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_23.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c7de05b1325dfa274854f281abc1c98d4a258e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_23.obj
@@ -0,0 +1,1051 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_24.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5b66c39b19820a2b33a747f4ac6f1a816f34631
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_24.obj
@@ -0,0 +1,1066 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_25.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77e58d06513f6af2a0b39fca4d3b897a2144ee4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_25.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_26.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba460e0678d6d497fa948a801ff0776aeff9d89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_26.obj
@@ -0,0 +1,1060 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_27.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d331599781638fde0f6da061b3b2a9a4d15e84d9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_27.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_28.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c784b3fc07a38f10565bf94af1fce029c971fdf4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_28.obj
@@ -0,0 +1,1042 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_29.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97190b58ddc1aaecf01e05b1eddf802ad8b25a55
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_29.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_3.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a614388a99585848bbb8a33e30e1f1e3eff8eda7
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_30.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcbfe0518a6b3fe7483f2b515b7daba5066ed00f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_30.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_31.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd55f423a7b7c8fb80db6f86a6ea49aa71d54e39
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_31.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_32.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc64490fcdb33bbcd4a2f53e743a7aee6cfbd39
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_32.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_33.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21f2975b8d2182ea4820dd96d8614265c277146e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_33.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_34.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48be83f72c273cd25df580087d55bb3954e2f39
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_34.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_35.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..691a3fd4d0b33dee6200ac548074ee348aad883a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_35.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_36.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ae74ee9b3ca8cd88ba2571767a78b8128afbbe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_36.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_37.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f96584a1b3d66334c8519b8b463310e297c3c300
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_37.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_4.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56ccd28352c12825a5f6b67b5ed4f714d6acb948
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_4.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_5.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12794e21a5589a6e4148610e73ed3a0ba0acfba0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_5.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_6.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096af4c62e9d7d79cac3bc95914b642a4d1e16e8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_6.obj
@@ -0,0 +1,1282 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_7.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c112fc246bf469907b6a9fc6721c3e125250961
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_7.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02309587 -0.00003017 -0.02424354
+v 0.02048214 0.01095743 -0.02424350
+v 0.02947483 -0.00003017 -0.02424354
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+
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_8.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d73fe5333f8a6166e8712570be9c861e0abaf34
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_8.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01929499 0.01292807 -0.02425159
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+
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_9.obj b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15dac8c63b2703692b74bfc450242dcdba6d15d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mesh/mouthwash_cup_013_collision_9.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01684184 -0.01831980 -0.02036140
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+v -0.02773213 -0.01377460 -0.00362943
+v -0.02762089 -0.01400317 -0.00362943
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+f 32 36 37
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+f 33 38 36
+f 36 38 37
+
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mouthwash_cup_013.xml b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mouthwash_cup_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8d0cfe805fee8a37187dc0e28f0a657ab97931e7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mjcf/mouthwash_cup_013.xml
@@ -0,0 +1,90 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_013">
+  <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_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_013_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_013_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_013_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_013_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_013_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_013_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mouthwash_cup_013_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_013_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_013_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mouthwash_cup_013_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mouthwash_cup_013_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mouthwash_cup_013_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mouthwash_cup_013_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mouthwash_cup_013_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mouthwash_cup_013_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mouthwash_cup_013_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mouthwash_cup_013_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mouthwash_cup_013_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mouthwash_cup_013_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mouthwash_cup_013_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mouthwash_cup_013_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mouthwash_cup_013_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mouthwash_cup_013_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mouthwash_cup_013_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mouthwash_cup_013_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mouthwash_cup_013_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mouthwash_cup_013_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mouthwash_cup_013_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_013">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mouthwash_cup_013.urdf b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mouthwash_cup_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20127a534137e5ef96eeb5b956a577c81b9b28cd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mouthwash_cup_013.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_013">
+   <link name="mouthwash_cup_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>e36d6ace7e595e72afb6ac49ff22e74f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>gray rinse cup</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>translucent tapered bathroom cup with smooth cylindrical body</description>
+         <min_height>0.0814</min_height>
+         <max_height>0.0814</max_height>
+         <real_height>0.0814</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154138</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034775 -0.034996 -0.031809</min>
+            <max>0.034780 0.035004 0.049561</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mouthwash_cup_013.usd b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mouthwash_cup_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2091bcf659010d1800a54dc4bf185de970d1d7f8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/mouthwash_cup_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55e86bb2f609ff3aa728151541e792c8501a7cc08a838c0695f0e2fea55f0023
+size 4767962
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/textures/material_0.png b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/textures/material_0.png
new file mode 100644
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+size 8984330
diff --git a/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/video.mp4 b/dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/video.mp4
new file mode 100644
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+size 223365