diff --git a/.gitattributes b/.gitattributes
index a1045f144c24ad1b7b12247ef70af9f0a2b5c420..cfd8339627120db3e3b84cc012673b4027442fe7 100644
--- a/.gitattributes
+++ b/.gitattributes
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 dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/toothpaste_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d39fd1af5bd75ff2952df73ca1692060/mesh/toothbrush_020.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/toothbrush_036.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..41366373c17eac1aa5b41c267cc129f6ff9ad6b1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038.glb
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038.mtl b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..253163eb7d2fe6777ec858e941cd8d15258c23f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038_collision.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d58db7e0d5df63d7ec132f7e59eeaf623e37ab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mesh/mouthwash_cup_038_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0885df07a6f1cd7a14dbb652da95572386682f30
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_0.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e907167c171d59f23bd02b6077523ad4bd49e90
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_1.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96be5dea4279ab05d0db6b1a31bc652471451c6f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_10.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad8a7c3d1838621250066cb22eb36071ee02d773
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_10.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_11.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..880eab1e18b4716e02ac197ec3e1aa98f99f32a9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_11.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_12.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f5b9e58ecac66cd33f407fa4a2dd7d87ce777ef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_12.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_13.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c988a1597a0d0c9400f8eae7703f43d56ea98d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_13.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_14.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315107b5a175fcfa4bfe72fdde59734a10eb1f12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_14.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_15.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ea79e825cf2120de2ba9bff08efdb2485f4f03
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_15.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_16.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b926da43529f1c8a3fd71ac4f19ddf61bb341451
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_16.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_17.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc47c4c90057f92cfbc095da6b9acfa2d34bc1c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_17.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_18.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc585cb7f9a2cb4e2cde69c7ec0ff0152aea772a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_18.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_19.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..746184095ea6875a5ee04d5e419e47fb13afe388
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_19.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_2.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..767f923a045b9bef01bba705d1e9caed98e89c7a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_20.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac17bf88d4b3f062894454249890dc875bdde8cc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_20.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_21.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5b381c6fc7729a613d903d968518c67cf8f5b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_21.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_22.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39e35dfa9f7b8e993474ae0038f2c0cb2c611032
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_22.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_23.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9509be8219a3c194ac04e202df71ae5eb91c0386
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_23.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_24.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f93c4ef4d6fcbe0f25fb8d42c70e265be53735d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_24.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_25.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d787fb03447d422b35abac41ed7b319c0f25d54
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_25.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_26.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d37b503cf876c83f075ec96f82c10168d2bd5c8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_26.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_3.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b25e9eb15bd89cfd286ad9b0345a8c2b43e96bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_3.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_4.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5155120d6882a12923a24dd23a124d1e92adf2a4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_4.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_5.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238c0f8b520ef631662e5ef9b6fd81fd9d4aaef6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_5.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_6.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eb35d7663ca134628bf12d1ef3085c5c936daaa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_6.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_7.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d6422584d5c6648567e44583b9026b12cd6d3b2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_7.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_8.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a3c095bf1c8f279b82d7b6c17d657ccd0ee44b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_8.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01642744 0.01754336 -0.03529855
+v -0.00005006 0.02323012 -0.03529852
+v -0.00005006 0.02913511 -0.03044237
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+v -0.01642744 0.02699793 -0.02856688
+v -0.01642744 0.03478275 -0.02982421
+v -0.01543983 0.03538395 -0.02856685
+v -0.01524103 0.03473130 -0.03529848
+v -0.00027291 0.03792058 -0.03529847
+v -0.00005006 0.03857735 -0.02856684
+v -0.01642744 0.03491863 -0.02856685
+v -0.01475684 0.03495160 -0.03529848
+v -0.01445703 0.03579574 -0.02856685
+v -0.00102484 0.03791852 -0.03529847
+v -0.00102484 0.03845382 -0.02982420
+v -0.00102484 0.03857529 -0.02856684
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+v -0.01376441 0.03536133 -0.03529848
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+v -0.00299045 0.03781352 -0.03529847
+v -0.00299045 0.03847440 -0.02856684
+v -0.00227539 0.03851146 -0.02856684
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+v -0.01085769 0.03691786 -0.02982420
+v -0.01262449 0.03578136 -0.03529848
+v -0.01338765 0.03550752 -0.03529848
+v -0.00496568 0.03760968 -0.03529847
+v -0.00495766 0.03827675 -0.02856684
+v -0.00424260 0.03834881 -0.02856684
+v -0.01074706 0.03707639 -0.02856684
+v -0.01085769 0.03634962 -0.03529848
+v -0.00953339 0.03741405 -0.02856684
+v -0.00587954 0.03748821 -0.03529847
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+v -0.00933939 0.03675935 -0.03529847
+v -0.00801349 0.03751907 -0.03104400
+v -0.00889048 0.03687876 -0.03529847
+v -0.00865801 0.03761789 -0.02856684
+v -0.00827963 0.03758084 -0.02982420
+v -0.00667637 0.03734820 -0.03529847
+v -0.00692487 0.03797409 -0.02856684
+v -0.00685112 0.03731526 -0.03529847
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+
diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_9.obj b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b661cb07d89a51ec7237d9993a3e98fad3275f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mesh/mouthwash_cup_038_collision_9.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00004845 0.02265274 -0.03541018
+v 0.01820638 0.01415622 -0.03541021
+v -0.00004845 0.02913615 -0.03044203
+v -0.00004845 0.03790970 -0.03541012
+v 0.01820638 0.02291062 -0.03043565
+v -0.00004845 0.03162923 -0.02885612
+v -0.00004845 0.03060716 -0.02949126
+v 0.01820638 0.03327697 -0.03541014
+v -0.00004845 0.03845415 -0.02982419
+v 0.00094506 0.03791209 -0.03541012
+v 0.01820638 0.02569981 -0.02885615
+v -0.00004845 0.03854728 -0.02885610
+v 0.01808666 0.03334384 -0.03541014
+v 0.01820638 0.03389783 -0.02982421
+v 0.00094506 0.03845415 -0.02982419
+v 0.00291063 0.03780940 -0.03541012
+v 0.00194750 0.03849952 -0.02885610
+v 0.00291063 0.03835863 -0.02982419
+v 0.01820638 0.03400052 -0.02885612
+v 0.00094506 0.03854728 -0.02885610
+v 0.01728256 0.03376651 -0.03541014
+v 0.01770962 0.03358263 -0.03508359
+v 0.01667859 0.03477423 -0.02885611
+v 0.00489586 0.03760881 -0.03541012
+v 0.00487799 0.03825833 -0.02885610
+v 0.00487799 0.03816281 -0.02982419
+v 0.00291063 0.03845176 -0.02885610
+v 0.00391486 0.03835385 -0.02885610
+v 0.01681439 0.03400054 -0.03541014
+v 0.01609249 0.03504646 -0.02885611
+v 0.00524788 0.03755867 -0.03541012
+v 0.00588222 0.03810789 -0.02885610
+v 0.00593226 0.03750613 -0.03493089
+v 0.01468621 0.03497007 -0.03541013
+v 0.01523478 0.03533541 -0.02982420
+v 0.01535629 0.03538556 -0.02885611
+v 0.00643437 0.03737718 -0.03541012
+v 0.00684535 0.03796222 -0.02885610
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+v 0.01425200 0.03573899 -0.02982420
+v 0.01437351 0.03578913 -0.02885611
+v 0.00676137 0.03732225 -0.03541012
+v 0.00756547 0.03782371 -0.02885610
+v 0.00797109 0.03752760 -0.03112781
+v 0.01255982 0.03579632 -0.03541013
+v 0.01274387 0.03640046 -0.02885611
+v 0.01351401 0.03611390 -0.02885611
+v 0.00854111 0.03695211 -0.03541012
+v 0.00853753 0.03762312 -0.02885610
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+v 0.00881272 0.03689241 -0.03541012
+v 0.01219886 0.03591572 -0.03541013
+v 0.01077829 0.03693776 -0.02982419
+v 0.01069788 0.03705955 -0.02885610
+v 0.00907718 0.03749656 -0.02885610
+v 0.00944349 0.03741059 -0.02885610
+v 0.01043878 0.03646018 -0.03541013
+v 0.01077829 0.03636944 -0.03541013
+v 0.01001708 0.03725298 -0.02885610
+f 1 2 3
+f 1 3 7
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+f 1 12 9
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+f 1 43 49
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+f 45 52 49
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+f 47 53 54
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+f 50 56 51
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+f 51 57 52
+f 52 57 58
+f 53 59 54
+f 54 59 55
+f 55 59 60
+f 57 60 59
+f 57 59 58
+
diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mouthwash_cup_038.xml b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mouthwash_cup_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d273940266262f005716378752acfa438bfc6922
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mjcf/mouthwash_cup_038.xml
@@ -0,0 +1,68 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_038">
+  <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_038.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_038_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_038_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_038_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_038_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_038_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_038_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_038_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_038_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_038_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_038_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_038_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_038_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_038_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_038_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_038_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_038_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mouthwash_cup_038_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_038_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_038_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mouthwash_cup_038_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mouthwash_cup_038_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mouthwash_cup_038_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mouthwash_cup_038_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mouthwash_cup_038_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mouthwash_cup_038_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mouthwash_cup_038_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mouthwash_cup_038_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_038">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mouthwash_cup_038.urdf b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mouthwash_cup_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2427b7a9cc27fbaa4dcd069029920c8e24d388da
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mouthwash_cup_038.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_038">
+   <link name="mouthwash_cup_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_038.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_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0700" />
+         <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>d3175e2790c05cd4ad1931b114e02560</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>gray mouthwash cup</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tapered translucent gray cup with thick rounded base</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123204</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.047056 -0.046942 -0.049193</min>
+            <max>0.046975 0.047162 0.070807</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_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/d3175e2790c05cd4ad1931b114e02560/mouthwash_cup_038.usd b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mouthwash_cup_038.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/mouthwash_cup_038.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab6bd323462a81bce2089a1155a2b536bc99391a8f6be329d97d1d3766587bfa
+size 4458169
diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/textures/material_0.png b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..667ab91b3270b2001c230ed41b1628ce0f4459b3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60447fbadd9aa0d087bedb73cc144bb3f630fe81db308327e2185e227b518f7
+size 8977312
diff --git a/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/video.mp4 b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9a05bdebce12c32d32485cb25e43eee65e06342
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:140c07b5f39e029e7dbd17cc1e3cef7bbb92411f0ebeb2492ca15874153f18b1
+size 279220