diff --git a/.gitattributes b/.gitattributes
index 95c1b9777f1654c6cc0ffc636f5651af8cc65eba..26ecd18645fed91c757b830ab60f044704d9f79c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2451,3 +2451,5 @@ dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/so
 dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/sponge_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/comb_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/comb_037.urdf b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/comb_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d24c5026ae412339f356021acb11e71446f6cb5b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/comb_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="comb_037">
+   <link name="comb_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/comb_037.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/comb_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.10</mu1>
+            <mu2>0.90</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>0168451db85558feac59f480b5172f1f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>comb</category>
+         <name>oval brush comb</name>
+         <color>green</color>
+         <shape>flat</shape>
+         <material>silicone</material>
+         <description>small oval handheld comb with soft short bristles</description>
+         <min_height>0.0464</min_height>
+         <max_height>0.0464</max_height>
+         <real_height>0.0464</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611120452</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059814 -0.039865 -0.014422</min>
+            <max>0.060186 0.040182 0.031965</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/0168451db85558feac59f480b5172f1f/comb_037.usd b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/comb_037.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1bb5321e87985a5b32dfe7036604c72d781df88e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/comb_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc7241c32f0fc0e964ea837ae1ad680f9fb42e38eb49196d716409049be980a7
+size 4999239
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.glb b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cd8ef3d29f06234da6e8f7e79a0d6e047c672d89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a9a2bdd196d085de00abad90bd6976a0aa86c5101d3072f7e009ac435c288e1
+size 12957952
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.mtl b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f9b233deea33cb09116e894b99aad25e36e9e38a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.mtl
@@ -0,0 +1,6 @@
+newmtl comb_037_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3abebdab344ca398ccb74bd161f5cf6737e6f410
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.obj
@@ -0,0 +1,121698 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_037_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037_collision.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..209649d09451dffa55c6e7f87d34fa1a3461f6ef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c55ba7720e05a719cd55c58168750ec5e68b3ff9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc77577221f7a15fbffc8140d3fd392f870a1c37b0aaa64b281e27a190f65943
+size 9490756
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4cc64002445097d08eac57e7d87d5c256a472f47
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl comb_037_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc77577221f7a15fbffc8140d3fd392f870a1c37b0aaa64b281e27a190f65943
+size 9490756
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/comb_037.xml b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/comb_037.xml
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index 0000000000000000000000000000000000000000..e2a846ad6a04ab315b3335eed2afd19546fdd10b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/comb_037.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_55" file="mesh/comb_037_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/comb_037_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/comb_037_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/comb_037_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/comb_037_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/comb_037_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/comb_037_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/comb_037_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/comb_037_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/comb_037_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/comb_037_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/comb_037_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/comb_037_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/comb_037_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/comb_037_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/comb_037_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/comb_037_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/comb_037_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/comb_037_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/comb_037_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/comb_037_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/comb_037_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/comb_037_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/comb_037_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/comb_037_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/comb_037_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/comb_037_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/comb_037_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/comb_037_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/comb_037_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/comb_037_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/comb_037_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/comb_037_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/comb_037_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/comb_037_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/comb_037_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/comb_037_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/comb_037_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/comb_037_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/comb_037_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/comb_037_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_96" file="mesh/comb_037_collision_96.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_97" file="mesh/comb_037_collision_97.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_98" file="mesh/comb_037_collision_98.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="comb_037">
+      <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" />
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+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_94" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_95" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_97" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_98" 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/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e0e626aed65e7c73ccb30af6255e926d5910a1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037.obj
@@ -0,0 +1,121698 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl comb_037_geometry_Looks_material_0
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+v 0.044114 -0.028378 0.000326
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+v 0.046638 -0.026512 0.000867
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+v 0.043442 -0.028834 -0.000309
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+v 0.047830 -0.025539 0.000792
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+v 0.045952 -0.026993 -0.001586
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+v 0.048774 -0.024734 0.000430
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+v 0.049864 -0.023711 -0.000774
+v 0.049864 -0.023711 -0.000774
+v 0.048324 -0.025040 -0.001663
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+v 0.053772 -0.018500 -0.003848
+v 0.055824 -0.016133 0.001323
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+v 0.056783 -0.014579 0.000461
+v 0.056824 -0.014502 -0.000679
+v 0.055344 -0.016496 -0.003034
+v 0.056909 -0.014029 -0.002108
+v 0.052353 -0.020137 -0.004340
+v 0.052353 -0.020137 -0.004340
+v 0.056878 -0.014214 0.001607
+v 0.054821 -0.016782 -0.004226
+v 0.054821 -0.016782 -0.004226
+v 0.055923 -0.015569 0.002648
+v 0.057321 -0.013526 -0.000612
+v 0.057511 -0.013057 0.001090
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diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96da277ee48acdd1a6ea35920c946a5cf113dda0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision.obj
@@ -0,0 +1,23555 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_0.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3ea4842d45d9a50ef078d4eaef45ba89e4883f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_1.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..156280a4204110fe881d8c1aef9adef3933128f6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_1.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_10.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c45b51086ee4de3a2262e28ac5e18ef10ec5b41
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_10.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00202858 0.00922827 0.01930848
+v -0.01023487 0.00920897 0.02664520
+v -0.01023487 0.00913417 0.02880143
+v -0.00374133 0.00801337 0.02776729
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+v -0.00279337 0.00343947 0.02813044
+v -0.00202858 0.00343952 0.01381854
+v -0.01023487 0.00343952 0.01381854
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+v -0.01023487 0.00382251 0.03013033
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_11.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27454e92d001606a1769c4f8948733850d08f6d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_11.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00393576 -0.02850578 0.01138630
+v 0.00579134 -0.02948578 0.01142578
+v 0.00393576 -0.02850578 0.01142579
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_12.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8b2ee479389cbc75b96bdf34872958b8b69c33e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_12.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03742318 -0.01048203 0.01381686
+v 0.03696253 -0.01048204 0.01713261
+v 0.03715830 -0.01240425 0.01888398
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+f 36 48 37
+f 38 49 50
+f 38 50 39
+f 39 50 49
+f 39 49 51
+f 39 51 52
+f 39 52 40
+f 40 43 53
+f 40 53 41
+f 40 52 43
+f 42 45 47
+f 43 46 53
+f 43 52 44
+f 44 47 45
+f 44 52 47
+f 47 52 51
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_13.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9759a0b715b9e4397d7aec03e6be0415f56dc141
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_13.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00874290 0.02069053 0.02844235
+v -0.00874290 0.02073486 0.02843805
+v -0.01023487 0.02081772 0.02827914
+v -0.01023487 0.01896381 0.02843804
+v -0.00874290 0.01864776 0.02815315
+v -0.00874290 0.02231319 0.02812024
+v -0.01023487 0.02121664 0.02819897
+v -0.01023487 0.01864005 0.02838507
+v -0.00874290 0.01839530 0.02808873
+v -0.00874290 0.02233053 0.02811308
+v -0.01011731 0.02200677 0.02791838
+v -0.01023487 0.02178515 0.02797707
+v -0.01023487 0.01753002 0.02775515
+v -0.00874290 0.01687286 0.02676877
+v -0.00874290 0.02328639 0.02723264
+v -0.01023487 0.03044190 0.02091495
+v -0.01023487 0.01693453 0.02684322
+v -0.00874290 0.01155785 0.01381837
+v -0.00874290 0.02330567 0.02720258
+v -0.00936373 0.03006225 0.02054846
+v -0.01023487 0.03115495 0.01928005
+v -0.01023487 0.01277387 0.01381838
+v -0.00874290 0.01963065 0.01381840
+v -0.00874290 0.02385876 0.02623910
+v -0.00889128 0.02856873 0.01906100
+v -0.00925113 0.03024341 0.01906101
+v -0.01019121 0.03122240 0.01906101
+v -0.01023487 0.03124360 0.01906101
+v -0.01023487 0.02833749 0.01381843
+v -0.00961331 0.02776127 0.01381843
+v -0.00874290 0.02024347 0.01521995
+v -0.00874290 0.02426539 0.02486619
+v -0.00874290 0.02422878 0.02477313
+v -0.00943397 0.02996013 0.01765803
+v -0.01023487 0.03123589 0.01902236
+v -0.01023487 0.03034364 0.01733878
+v -0.00971087 0.02789039 0.01381843
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 23
+f 1 23 31
+f 1 31 33
+f 1 33 32
+f 1 32 24
+f 1 24 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 16
+f 3 16 21
+f 3 21 28
+f 3 28 35
+f 3 35 36
+f 3 36 29
+f 3 29 22
+f 3 22 17
+f 3 17 13
+f 3 13 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 10 16 11
+f 11 16 12
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 16 20 21
+f 17 22 18
+f 18 22 29
+f 18 29 37
+f 18 37 30
+f 18 30 23
+f 19 24 20
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 20 24 25
+f 21 27 28
+f 23 30 25
+f 23 25 31
+f 24 32 25
+f 25 30 26
+f 25 32 33
+f 25 33 31
+f 26 30 34
+f 26 34 27
+f 27 35 28
+f 27 34 35
+f 29 36 34
+f 29 34 37
+f 30 37 34
+f 34 36 35
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_14.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00189c85bd4bcec4d5093f4ac7f9d03e21ed3dd6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_14.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.03299860 -0.02224326 0.01381682
+v -0.03328348 -0.02224326 0.01396794
+v -0.02489362 -0.02224326 0.01381682
+v -0.02648726 -0.02443843 0.01381681
+v -0.03349362 -0.02342892 0.01602437
+v -0.03346541 -0.02224326 0.01416983
+v -0.02790461 -0.02761228 0.01967179
+v -0.02489362 -0.02224329 0.02058458
+v -0.02489362 -0.02402022 0.01381681
+v -0.02535478 -0.02543041 0.01591919
+v -0.02508965 -0.02761470 0.01966333
+v -0.02648726 -0.02778114 0.01948803
+v -0.03367273 -0.02552000 0.01979511
+v -0.03435390 -0.02585833 0.02108145
+v -0.03545252 -0.02542620 0.02178627
+v -0.03395055 -0.02224326 0.01470903
+v -0.02648726 -0.02842511 0.02098835
+v -0.02825718 -0.02786951 0.02098835
+v -0.02489362 -0.02253804 0.02301700
+v -0.03220037 -0.02224330 0.02446655
+v -0.02489362 -0.02725882 0.01947110
+v -0.02489362 -0.02773817 0.02040321
+v -0.03241333 -0.02669536 0.02291664
+v -0.03454006 -0.02598967 0.02295774
+v -0.03545252 -0.02542620 0.02234360
+v -0.03929982 -0.02224329 0.02291666
+v -0.03899942 -0.02224329 0.02224206
+v -0.02489362 -0.02788767 0.02098835
+v -0.02489362 -0.02792761 0.02231095
+v -0.02489362 -0.02782231 0.02445323
+v -0.02648726 -0.02801961 0.02291664
+v -0.02489362 -0.02286548 0.02434565
+v -0.03228076 -0.02224330 0.02448710
+v -0.03398299 -0.02573911 0.02426101
+v -0.03530021 -0.02511391 0.02362873
+v -0.03833940 -0.02224330 0.02401923
+v -0.02489362 -0.02771458 0.02464183
+v -0.02489362 -0.02380540 0.02539260
+v -0.03438916 -0.02224330 0.02465394
+v -0.03728450 -0.02224330 0.02451370
+v -0.02489362 -0.02629956 0.02616753
+f 1 2 6
+f 1 6 16
+f 1 16 27
+f 1 27 26
+f 1 26 36
+f 1 36 40
+f 1 40 39
+f 1 39 33
+f 1 33 20
+f 1 20 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 5
+f 3 8 19
+f 3 19 32
+f 3 32 38
+f 3 38 41
+f 3 41 37
+f 3 37 30
+f 3 30 29
+f 3 29 28
+f 3 28 22
+f 3 22 21
+f 3 21 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 7
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 7 13
+f 7 12 17
+f 7 17 18
+f 7 18 14
+f 7 14 13
+f 8 20 19
+f 9 21 11
+f 9 11 10
+f 11 17 12
+f 11 21 22
+f 11 22 17
+f 14 23 24
+f 14 24 15
+f 14 18 23
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 24 25
+f 17 22 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 23
+f 17 23 18
+f 19 20 32
+f 20 33 32
+f 23 34 24
+f 23 31 30
+f 23 30 34
+f 24 34 35
+f 24 35 26
+f 24 26 25
+f 26 35 36
+f 30 37 34
+f 32 33 38
+f 33 39 38
+f 34 40 36
+f 34 36 35
+f 34 37 41
+f 34 41 40
+f 38 39 41
+f 39 40 41
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_15.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..886824639b0f22bfe3f8dd3094296888d4fa396b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00202777 0.01289301 0.03006363
+v -0.00874290 0.01864691 0.02815349
+v -0.00202777 0.01231721 0.02996661
+v -0.00202777 0.01372658 0.02996184
+v -0.00874290 0.02073187 0.02843820
+v -0.00874290 0.02068821 0.02844138
+v -0.00874290 0.01839539 0.02808987
+v -0.00202777 0.01156887 0.02944970
+v -0.00828738 0.01736226 0.02794831
+v -0.00202777 0.01421300 0.02987118
+v -0.00870609 0.02072979 0.02844138
+v -0.00870609 0.02234079 0.02811851
+v -0.00874290 0.02231377 0.02812010
+v -0.00874290 0.01687169 0.02676977
+v -0.00854044 0.01107627 0.01381694
+v -0.00844250 0.01099312 0.01381694
+v -0.00721530 0.00996000 0.01381694
+v -0.00202777 0.01135476 0.02870854
+v -0.00202777 0.01877370 0.02893760
+v -0.00874290 0.02233040 0.02811374
+v -0.00673086 0.02213916 0.02799445
+v -0.00475563 0.02660841 0.02483262
+v -0.00475563 0.02770182 0.02403579
+v -0.00585794 0.02766025 0.02397853
+v -0.00870609 0.02331987 0.02721513
+v -0.00874290 0.02328661 0.02723263
+v -0.00874290 0.01155645 0.01381694
+v -0.00862392 0.01117813 0.01381694
+v -0.00625102 0.00942577 0.01381693
+v -0.00588489 0.00922829 0.01381693
+v -0.00202777 0.00922827 0.01930883
+v -0.00202777 0.01942226 0.02864495
+v -0.00202777 0.02030157 0.02823460
+v -0.00363162 0.02767064 0.02398966
+v -0.00202777 0.03015056 0.02050336
+v -0.00202777 0.03021501 0.02037930
+v -0.00202777 0.03046446 0.01906239
+v -0.00600781 0.02775587 0.02291609
+v -0.00874290 0.02426570 0.02486601
+v -0.00874290 0.02385826 0.02624017
+v -0.00874290 0.02330532 0.02720241
+v -0.00874290 0.01963020 0.01381697
+v -0.00202777 0.00922829 0.01381693
+v -0.00202777 0.02630908 0.02449861
+v -0.00202777 0.03009236 0.01828942
+v -0.00598086 0.02773924 0.02167235
+v -0.00777204 0.02572081 0.02186637
+v -0.00777204 0.02572081 0.02230693
+v -0.00711473 0.02646707 0.02293677
+v -0.00874290 0.02422828 0.02477217
+v -0.00874290 0.02023925 0.01521022
+v -0.00597363 0.02364004 0.01381699
+v -0.00202777 0.01596749 0.01381696
+v -0.00302426 0.02275867 0.01381698
+v -0.00353894 0.02367122 0.01381699
+v -0.00422978 0.02384168 0.01381699
+v -0.00475563 0.02389780 0.01381699
+v -0.00523349 0.02383960 0.01381699
+v -0.00579747 0.02376477 0.01381699
+v -0.00589870 0.02379803 0.01391878
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 31
+f 1 31 43
+f 1 43 53
+f 1 53 45
+f 1 45 37
+f 1 37 36
+f 1 36 35
+f 1 35 44
+f 1 44 33
+f 1 33 32
+f 1 32 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 5
+f 2 5 13
+f 2 13 20
+f 2 20 26
+f 2 26 41
+f 2 41 40
+f 2 40 39
+f 2 39 50
+f 2 50 51
+f 2 51 42
+f 2 42 27
+f 2 27 14
+f 2 14 7
+f 3 7 9
+f 3 9 8
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 7 14 9
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 9 14
+f 8 14 15
+f 10 19 12
+f 10 12 11
+f 12 20 13
+f 12 19 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 20
+f 14 27 28
+f 14 28 15
+f 15 28 27
+f 15 27 42
+f 15 42 52
+f 15 52 59
+f 15 59 58
+f 15 58 57
+f 15 57 56
+f 15 56 55
+f 15 55 54
+f 15 54 53
+f 15 53 43
+f 15 43 30
+f 15 30 29
+f 15 29 17
+f 15 17 16
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 19 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 26
+f 24 26 25
+f 30 43 31
+f 33 44 34
+f 34 44 35
+f 37 45 46
+f 37 46 38
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 39
+f 39 49 48
+f 39 48 47
+f 39 47 50
+f 42 51 47
+f 42 47 52
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 45 53 54
+f 46 60 47
+f 47 60 52
+f 47 51 50
+f 52 60 59
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_16.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8131c6d8387441e077bf4251aa838e73ddc29ca4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_16.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01829679 0.02110183 0.02209387
+v -0.01846354 0.02145971 0.02209306
+v -0.01867735 0.02110183 0.02209387
+v -0.01829679 0.01688247 0.02209385
+v -0.01829679 0.02110183 0.02125694
+v -0.01829679 0.01808654 0.01381697
+v -0.02114085 0.01645133 0.01381696
+v -0.02114085 0.01921630 0.02209386
+v -0.02050333 0.01496172 0.02209384
+v -0.01872245 0.01173702 0.01520479
+v -0.01841538 0.01173703 0.01450074
+v -0.01829679 0.01173703 0.01420583
+v -0.01829679 0.01173703 0.01381694
+v -0.02114085 0.01173703 0.01381694
+v -0.02114085 0.01480848 0.02209384
+v -0.02114085 0.01366631 0.02056744
+v -0.02052616 0.01173702 0.01724080
+v -0.02114085 0.01173702 0.01733073
+v -0.02087443 0.01173702 0.01729184
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 12
+f 1 12 13
+f 1 13 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 6 13 14
+f 6 14 7
+f 7 14 18
+f 7 18 16
+f 7 16 15
+f 7 15 8
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 19
+f 10 19 18
+f 10 18 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 16 18 19
+f 16 19 17
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_17.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a2212f5d0fc2aeeaad2a61fe3715a64d1eeae33
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_17.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00080359 -0.01311737 0.03007814
+v -0.00144059 -0.01311737 0.03001790
+v -0.00179301 -0.01389681 0.02986340
+v -0.00080359 -0.01402081 0.02993711
+v 0.00054550 -0.01390271 0.02986694
+v 0.00062587 -0.01311737 0.02991159
+v -0.00179301 -0.01311737 0.02996191
+v -0.00179301 -0.01341114 0.02993852
+v -0.00179301 -0.02049099 0.02824541
+v 0.00314685 -0.02042161 0.02845802
+v 0.00493663 -0.02048951 0.02819368
+v 0.00121478 -0.01311737 0.02938361
+v 0.00493663 -0.01841102 0.02833968
+v 0.00493663 -0.01835493 0.02833117
+v 0.00493663 -0.01725811 0.02787407
+v -0.00179301 -0.01311734 0.02283806
+v -0.00179301 -0.02148890 0.02783224
+v 0.00160738 -0.02167933 0.02797256
+v 0.00314685 -0.02171181 0.02800233
+v 0.00493663 -0.02058842 0.02815895
+v 0.00230367 -0.01311736 0.02804204
+v 0.00493663 -0.01647720 0.02687339
+v 0.00119962 -0.01311734 0.02283806
+v -0.00179301 -0.02819674 0.02283801
+v -0.00179301 -0.02761218 0.02420368
+v 0.00439911 -0.02153614 0.02785492
+v 0.00278388 -0.02741289 0.02402721
+v 0.00493663 -0.02661426 0.02429652
+v 0.00493663 -0.02648731 0.02438298
+v 0.00493663 -0.02071832 0.02810367
+v 0.00493663 -0.01620704 0.02484509
+v 0.00493663 -0.01594722 0.02283805
+v 0.00228325 -0.01311736 0.02700805
+v 0.00213174 -0.01311736 0.02626746
+v 0.00330494 -0.02778045 0.02283801
+v -0.00179301 -0.02780556 0.02382523
+v 0.00493663 -0.02139738 0.02771601
+v 0.00493663 -0.02762398 0.02283801
+v 0.00493663 -0.02746013 0.02322213
+v 0.00434641 -0.02726527 0.02385925
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 21
+f 1 21 33
+f 1 33 34
+f 1 34 23
+f 1 23 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 16
+f 3 16 24
+f 3 24 36
+f 3 36 25
+f 3 25 17
+f 3 17 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
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+f 11 30 37
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+f 11 29 28
+f 11 28 39
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+f 11 38 32
+f 11 32 31
+f 11 31 22
+f 11 22 15
+f 11 15 14
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+f 12 15 21
+f 15 22 21
+f 16 23 32
+f 16 32 38
+f 16 38 35
+f 16 35 24
+f 17 25 18
+f 18 25 19
+f 19 26 20
+f 19 25 27
+f 19 27 28
+f 19 28 29
+f 19 29 26
+f 20 26 30
+f 21 22 31
+f 21 31 32
+f 21 32 33
+f 23 34 32
+f 24 35 27
+f 24 27 36
+f 25 36 27
+f 26 37 30
+f 26 29 37
+f 27 35 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 40 39
+f 32 34 33
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_18.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b2327720ff3a1f345ddedaa6d84ef6effe3c0e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_18.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.04465718 0.01093368 0.02677284
+v -0.04344786 0.01035367 0.02296927
+v -0.04344786 0.00960777 0.02296927
+v -0.04344302 0.00955319 0.02296927
+v -0.04427826 0.00897421 0.02677283
+v -0.04436694 0.01093367 0.02870081
+v -0.04153309 0.01808557 0.02677287
+v -0.04156937 0.01813053 0.02519100
+v -0.04128236 0.01772387 0.02390568
+v -0.04070188 0.01720164 0.02296929
+v -0.04288270 0.00857934 0.02296926
+v -0.04395013 0.00892818 0.02873477
+v -0.04345914 0.00811594 0.02588316
+v -0.04368246 0.00811594 0.02677283
+v -0.04363651 0.00811594 0.02828675
+v -0.04355105 0.01093367 0.02986934
+v -0.04337530 0.01200918 0.02973912
+v -0.04370585 0.01233130 0.02870082
+v -0.04354541 0.00955209 0.02986297
+v -0.04134363 0.01784372 0.02778003
+v -0.04031651 0.01887856 0.02677287
+v -0.04050114 0.01861531 0.02466724
+v -0.03996661 0.01818297 0.02327222
+v -0.04033828 0.01752269 0.02296929
+v -0.04240945 0.00811596 0.02296926
+v -0.04336643 0.00811595 0.02561562
+v -0.04259246 0.00811593 0.02911909
+v -0.04229094 0.01093367 0.03019987
+v -0.04229094 0.01214830 0.02984882
+v -0.04031651 0.01814229 0.02802138
+v -0.04227884 0.00811593 0.02935337
+v -0.04229094 0.00821759 0.02944609
+v -0.04229094 0.00919786 0.03001584
+v -0.03834047 0.01904872 0.02677287
+v -0.03834047 0.01900164 0.02484560
+v -0.03834047 0.01818832 0.02323542
+v -0.03947482 0.01801068 0.02296930
+v -0.03827114 0.00811596 0.02296926
+v -0.04065270 0.01093367 0.02999533
+v -0.04097519 0.01213118 0.02983537
+v -0.03834047 0.01681101 0.02855503
+v -0.04076316 0.00934769 0.02993516
+v -0.03834047 0.01823540 0.02809499
+v -0.04021090 0.00811593 0.02937319
+v -0.03720049 0.01796893 0.02787841
+v -0.03694814 0.01825466 0.02677287
+v -0.03697152 0.01822470 0.02484560
+v -0.03723193 0.01792827 0.02362894
+v -0.03834047 0.01802888 0.02296930
+v -0.03717469 0.00811595 0.02558306
+v -0.03684575 0.01477772 0.02296928
+v -0.03836144 0.00811593 0.02891667
+v -0.03705053 0.01681101 0.02801925
+v -0.03642087 0.01681101 0.02677286
+v -0.03643135 0.01681102 0.02484559
+v -0.03694330 0.01687738 0.02296929
+v -0.03695056 0.01689450 0.02296929
+v -0.03717146 0.00811595 0.02559156
+v -0.03686268 0.00811594 0.02677283
+v -0.03703199 0.00811594 0.02810486
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 24
+f 2 24 37
+f 2 37 49
+f 2 49 57
+f 2 57 56
+f 2 56 51
+f 2 51 38
+f 2 38 25
+f 2 25 11
+f 2 11 4
+f 2 4 3
+f 4 11 5
+f 5 12 6
+f 5 11 13
+f 5 13 14
+f 5 14 15
+f 5 15 12
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 6 12 19
+f 6 19 16
+f 7 18 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 9
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 11 25 26
+f 11 26 13
+f 12 15 19
+f 13 26 25
+f 13 25 38
+f 13 38 50
+f 13 50 58
+f 13 58 59
+f 13 59 60
+f 13 60 52
+f 13 52 44
+f 13 44 31
+f 13 31 27
+f 13 27 15
+f 13 15 14
+f 15 27 19
+f 16 28 17
+f 16 19 28
+f 17 28 29
+f 17 29 30
+f 17 30 20
+f 17 20 18
+f 19 27 31
+f 19 31 32
+f 19 32 33
+f 19 33 28
+f 20 30 21
+f 21 34 35
+f 21 35 22
+f 21 30 34
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 28 33 42
+f 28 42 39
+f 29 41 30
+f 30 41 43
+f 30 43 34
+f 31 44 32
+f 32 44 33
+f 33 44 42
+f 34 43 45
+f 34 45 46
+f 34 46 47
+f 34 47 35
+f 35 47 48
+f 35 48 36
+f 36 48 49
+f 36 49 37
+f 38 51 50
+f 39 42 52
+f 39 52 53
+f 39 53 41
+f 39 41 40
+f 41 53 45
+f 41 45 43
+f 42 44 52
+f 45 53 54
+f 45 54 46
+f 46 54 55
+f 46 55 47
+f 47 55 56
+f 47 56 57
+f 47 57 48
+f 48 57 49
+f 50 51 58
+f 51 56 55
+f 51 55 59
+f 51 59 58
+f 52 60 53
+f 53 60 54
+f 54 59 55
+f 54 60 59
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_19.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f35a65ca994d67868ae79473fb63bf9723e13311
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_19.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03402113 0.00343950 0.01888404
+v 0.03380087 0.00343950 0.01920026
+v 0.03201185 0.00119467 0.02283773
+v 0.03201410 0.00114503 0.02283773
+v 0.03205231 -0.00029708 0.02283773
+v 0.03205006 -0.00035099 0.02283773
+v 0.03200511 -0.00018180 0.02098880
+v 0.03191296 -0.00000993 0.01906091
+v 0.03190172 0.00000608 0.01888403
+v 0.01106278 0.00343950 0.01888404
+v 0.03284568 0.00343949 0.02050306
+v 0.03167697 0.00199952 0.02283774
+v 0.03086787 -0.00143871 0.02283772
+v 0.03081842 -0.00147447 0.02283772
+v 0.03081842 -0.00063812 0.01888403
+v 0.01106278 0.00272912 0.01888404
+v 0.01106278 0.00343949 0.02283774
+v 0.03245011 0.00343949 0.02094391
+v 0.03089933 0.00263518 0.02283774
+v 0.03068807 -0.00153157 0.02283772
+v 0.02429164 -0.00201299 0.02102981
+v 0.02291167 -0.00093327 0.01888403
+v 0.01106278 0.00271791 0.01888597
+v 0.01364517 -0.00027786 0.01888403
+v 0.01106278 0.00338986 0.02283774
+v 0.02295212 0.00343949 0.02283774
+v 0.03081617 0.00343949 0.02180354
+v 0.03087011 0.00265065 0.02283774
+v 0.02387810 -0.00201299 0.02283772
+v 0.02390507 -0.00201299 0.02282107
+v 0.02394552 -0.00201299 0.02279553
+v 0.02395901 -0.00201299 0.02275914
+v 0.02398823 -0.00201299 0.02268019
+v 0.01618037 -0.00201299 0.02092105
+v 0.01609946 -0.00098931 0.01888403
+v 0.01383846 -0.00201299 0.02283772
+v 0.01488355 -0.00093380 0.01888403
+v 0.01501840 -0.00201299 0.02092105
+v 0.01500267 -0.00098877 0.01888403
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 15
+f 1 15 22
+f 1 22 35
+f 1 35 39
+f 1 39 37
+f 1 37 24
+f 1 24 16
+f 1 16 10
+f 1 10 17
+f 1 17 26
+f 1 26 27
+f 1 27 18
+f 1 18 11
+f 1 11 2
+f 2 11 3
+f 3 12 19
+f 3 19 28
+f 3 28 26
+f 3 26 17
+f 3 17 25
+f 3 25 36
+f 3 36 29
+f 3 29 20
+f 3 20 14
+f 3 14 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 3 11 12
+f 6 13 7
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 10 16 23
+f 10 23 25
+f 10 25 17
+f 11 18 12
+f 12 18 19
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 16 24 23
+f 18 27 28
+f 18 28 19
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 32
+f 21 32 31
+f 21 31 30
+f 21 30 29
+f 21 29 36
+f 21 36 38
+f 21 38 34
+f 21 34 35
+f 21 35 22
+f 23 36 25
+f 23 24 36
+f 24 37 38
+f 24 38 36
+f 26 28 27
+f 34 38 35
+f 35 38 39
+f 37 39 38
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_2.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa82b48ad9c1d6a860b1404827e267c5bfc0bd3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_2.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02429240 -0.00201387 0.02102981
+v 0.02399014 -0.00201387 0.02268019
+v 0.02705507 -0.00600825 0.01888401
+v 0.02633791 -0.00532114 0.01888401
+v 0.02418978 -0.00345574 0.01888402
+v 0.02291161 -0.00284595 0.01888402
+v 0.01714312 -0.00201386 0.01888479
+v 0.02394664 -0.00201387 0.02279553
+v 0.02705507 -0.00757755 0.02283770
+v 0.02705507 -0.00671295 0.02105961
+v 0.02705507 -0.00662772 0.02087808
+v 0.02705507 -0.01098938 0.01888399
+v 0.01878154 -0.00237938 0.01888402
+v 0.01716765 -0.00220453 0.01888402
+v 0.01566196 -0.00253842 0.01888402
+v 0.01566196 -0.00201387 0.02092105
+v 0.02390537 -0.00201387 0.02282107
+v 0.02705507 -0.01098939 0.02283769
+v 0.02387749 -0.00201387 0.02283772
+v 0.02174163 -0.01098938 0.01888399
+v 0.01566196 -0.00679993 0.01888401
+v 0.01566196 -0.00201387 0.02283772
+v 0.02435262 -0.01098939 0.02283769
+v 0.02253463 -0.01098939 0.02082542
+v 0.01566196 -0.00745542 0.02283770
+v 0.01566196 -0.00738864 0.02205392
+v 0.01566196 -0.00738249 0.02199470
+v 0.01566196 -0.00727441 0.02096554
+v 0.01566196 -0.00686934 0.01911352
+v 0.02335775 -0.01066780 0.02283769
+v 0.02332540 -0.01098939 0.02274828
+v 0.02317706 -0.01098939 0.02239606
+v 0.01724238 -0.00811617 0.02283770
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 22
+f 1 22 19
+f 1 19 17
+f 1 17 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 9
+f 3 9 18
+f 3 18 12
+f 3 12 20
+f 3 20 21
+f 3 21 15
+f 3 15 14
+f 3 14 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 8 17 9
+f 9 17 19
+f 9 19 22
+f 9 22 25
+f 9 25 33
+f 9 33 30
+f 9 30 23
+f 9 23 18
+f 12 18 23
+f 12 23 31
+f 12 31 32
+f 12 32 24
+f 12 24 20
+f 15 21 29
+f 15 29 28
+f 15 28 27
+f 15 27 26
+f 15 26 25
+f 15 25 22
+f 15 22 16
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 23 30 31
+f 24 32 25
+f 25 32 31
+f 25 31 33
+f 30 33 31
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_20.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ca5d15fd17c06d0f578d8fd3f0c9b9a47bb82e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_20.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00271899 -0.02919806 0.01142578
+v -0.00271899 -0.02868281 0.00993184
+v -0.00002022 -0.02932829 0.01017798
+v -0.00070029 -0.02953213 0.01142578
+v -0.00271899 0.02211742 0.01142597
+v -0.00027362 -0.02913012 0.00993184
+v -0.00271899 0.02358390 0.00993204
+v 0.00039538 -0.02932829 0.01017798
+v 0.00106437 -0.02954345 0.01142578
+v -0.00143507 0.02644892 0.01142599
+v -0.00216660 0.02604691 0.00993205
+v -0.00243172 0.02498810 0.00993204
+v -0.00000654 -0.02913012 0.00993184
+v 0.00107805 -0.02954345 0.01142578
+v 0.00064682 -0.02912446 0.00993184
+v 0.00393576 -0.02830912 0.00993185
+v -0.00136537 0.02661878 0.01142599
+v -0.00041758 0.02807960 0.01142599
+v -0.00065664 0.02790974 0.00993205
+v 0.00393576 -0.02850729 0.01138630
+v 0.00393576 -0.02850729 0.01142579
+v 0.00393576 0.02297806 0.00993203
+v 0.00117055 0.02830042 0.01142599
+v 0.00117120 0.02805129 0.00993205
+v 0.00393576 0.02478426 0.01142598
+v 0.00378138 0.02520892 0.00993204
+v 0.00393576 0.02511833 0.00993321
+v 0.00228641 0.02784745 0.01142599
+v 0.00245772 0.02773987 0.00993205
+v 0.00214961 0.02786444 0.00993205
+v 0.00350193 0.02618280 0.00993205
+v 0.00327589 0.02669805 0.00993205
+v 0.00233917 0.02780782 0.01142599
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 21
+f 1 21 25
+f 1 25 33
+f 1 33 28
+f 1 28 23
+f 1 23 18
+f 1 18 17
+f 1 17 10
+f 1 10 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 12
+f 2 12 11
+f 2 11 19
+f 2 19 24
+f 2 24 30
+f 2 30 29
+f 2 29 32
+f 2 32 31
+f 2 31 26
+f 2 26 22
+f 2 22 16
+f 2 16 15
+f 2 15 13
+f 2 13 6
+f 3 6 13
+f 3 13 8
+f 3 8 14
+f 3 14 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 8 13 15
+f 8 15 16
+f 8 16 14
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 14 16 20
+f 14 20 21
+f 16 22 27
+f 16 27 25
+f 16 25 21
+f 16 21 20
+f 18 23 19
+f 19 23 24
+f 22 26 27
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 25 27 31
+f 25 31 32
+f 25 32 33
+f 26 31 27
+f 28 33 29
+f 29 33 32
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_21.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59838a24ec55c4473f39e8cdd58901707e94780d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_21.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.04344741 0.00960779 0.02296927
+v -0.04344741 0.01035329 0.02296927
+v -0.04333036 0.00976631 0.02170129
+v -0.04344297 0.00955352 0.02296927
+v -0.04333036 0.01006195 0.02170129
+v -0.04070208 0.01720140 0.02296929
+v -0.04257663 0.00897369 0.01815379
+v -0.04272826 0.00897369 0.01906117
+v -0.04235051 0.00815534 0.01815379
+v -0.04196301 0.00730272 0.01815379
+v -0.04288256 0.00857950 0.02296926
+v -0.04024895 0.01492061 0.01815381
+v -0.04033763 0.01752131 0.02296929
+v -0.03966371 0.01611171 0.01815382
+v -0.03988628 0.01570897 0.01815382
+v -0.03941542 0.00391080 0.01815377
+v -0.03945444 0.00384368 0.01906115
+v -0.03953957 0.00375083 0.02098856
+v -0.03960519 0.00373798 0.02296924
+v -0.03947395 0.01800975 0.02296930
+v -0.03834070 0.01633165 0.01815382
+v -0.03897383 0.00343950 0.01815377
+v -0.03907580 0.00343950 0.01906115
+v -0.03912192 0.00343949 0.02094142
+v -0.03904034 0.00343949 0.02296924
+v -0.03834070 0.01802974 0.02296930
+v -0.03764639 0.01622739 0.01815382
+v -0.03438941 0.00343950 0.01815377
+v -0.03438941 0.00343949 0.02296924
+v -0.03695119 0.01689434 0.02296929
+v -0.03701503 0.01616455 0.01906120
+v -0.03711346 0.01605173 0.01815382
+v -0.03438941 0.01376522 0.01815381
+v -0.03438941 0.00478198 0.02296925
+v -0.03694321 0.01687720 0.02296929
+v -0.03438941 0.01255840 0.02243993
+v -0.03438941 0.01323393 0.02098860
+v -0.03438941 0.01374522 0.01923607
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 25
+f 1 25 29
+f 1 29 34
+f 1 34 35
+f 1 35 30
+f 1 30 26
+f 1 26 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 6 12
+f 5 12 7
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 7 9 8
+f 7 12 15
+f 7 15 14
+f 7 14 21
+f 7 21 27
+f 7 27 32
+f 7 32 33
+f 7 33 28
+f 7 28 22
+f 7 22 16
+f 7 16 10
+f 7 10 9
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 13 20 14
+f 14 20 21
+f 16 22 23
+f 16 23 17
+f 17 23 18
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 20 26 21
+f 21 26 27
+f 22 28 29
+f 22 29 25
+f 22 25 24
+f 22 24 23
+f 26 30 31
+f 26 31 32
+f 26 32 27
+f 28 33 38
+f 28 38 37
+f 28 37 36
+f 28 36 34
+f 28 34 29
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 33
+f 30 33 31
+f 31 33 32
+f 34 36 35
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_22.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e9631ceebcb4d916c0025bd38718a18411e493f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_22.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00178869 -0.00143554 0.01381689
+v -0.00178869 -0.00143555 0.01542442
+v -0.00178869 0.00343952 0.01381691
+v 0.03680777 -0.00143554 0.01381689
+v -0.00089864 -0.00143555 0.01558463
+v -0.00069557 -0.00142697 0.01888402
+v -0.00083815 -0.00136303 0.01888402
+v -0.00090728 -0.00133106 0.01888403
+v -0.00178869 -0.00082570 0.01888403
+v -0.00178869 0.00343950 0.01868861
+v 0.04234685 0.00343952 0.01381691
+v 0.04030750 0.00151021 0.01381691
+v 0.04070068 0.00343951 0.01743622
+v 0.03081501 -0.00063816 0.01888403
+v 0.03493692 -0.00143554 0.01463777
+v 0.01723085 -0.00143556 0.01877688
+v 0.02290820 -0.00093307 0.01888403
+v -0.00178869 0.00339751 0.01888404
+v 0.00365534 0.00343950 0.01888404
+v 0.04227772 0.00343952 0.01398307
+v 0.04234253 0.00337605 0.01381691
+v 0.04078277 0.00343951 0.01726113
+v 0.03402094 0.00343950 0.01888404
+v 0.03189950 0.00000605 0.01888403
+f 1 2 9
+f 1 9 18
+f 1 18 10
+f 1 10 3
+f 1 3 11
+f 1 11 21
+f 1 21 12
+f 1 12 4
+f 1 4 15
+f 1 15 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 19
+f 3 19 23
+f 3 23 13
+f 3 13 22
+f 3 22 20
+f 3 20 11
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 5 16 6
+f 6 16 17
+f 6 17 14
+f 6 14 24
+f 6 24 23
+f 6 23 19
+f 6 19 18
+f 6 18 9
+f 6 9 8
+f 6 8 7
+f 10 18 19
+f 11 20 21
+f 12 21 13
+f 13 21 22
+f 13 23 24
+f 13 24 14
+f 14 17 16
+f 14 16 15
+f 20 22 21
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_23.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26b7901571323ac5246d35000b5a8eb210bfcaab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_23.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02409625 0.00343952 0.01381754
+v -0.00202522 0.00343952 0.01381834
+v 0.02409625 0.00867844 0.01381756
+v 0.04234388 0.00343952 0.01381754
+v -0.00202522 0.00343950 0.01902224
+v -0.00202522 0.00861947 0.01381836
+v 0.02409625 0.00867842 0.02024903
+v 0.03489613 0.00867844 0.01381756
+v 0.04239170 0.00497028 0.01381755
+v 0.04216127 0.00702972 0.02024903
+v 0.04209171 0.00511538 0.02024902
+v 0.04178302 0.00460513 0.02024902
+v 0.04152650 0.00414411 0.01971889
+v 0.04227431 0.00343952 0.01398325
+v -0.00102957 0.00861945 0.01906007
+v -0.00202522 0.00861946 0.01737317
+v 0.00424863 0.00343949 0.02203485
+v 0.00133127 0.00861944 0.02112908
+v 0.00094432 0.00861944 0.02084029
+v -0.00079914 0.00861945 0.01944539
+v 0.00398776 0.00861944 0.02199063
+v 0.00683556 0.00861944 0.02203487
+v 0.03507004 0.00867842 0.02024903
+v 0.04061781 0.00829535 0.02024903
+v 0.04143085 0.00810509 0.02024903
+v 0.04167432 0.00799689 0.02001011
+v 0.04086563 0.00703282 0.01381756
+v 0.04238736 0.00518361 0.01381755
+v 0.04196128 0.00626462 0.01381755
+v 0.04170910 0.00803074 0.02024903
+v 0.02337886 0.00861944 0.02203487
+v 0.02327017 0.00343949 0.02203485
+v 0.04123954 0.00419744 0.02024902
+v 0.04060911 0.00400668 0.02024901
+v 0.04030477 0.00391950 0.02024901
+v 0.04079172 0.00378616 0.01906970
+v 0.04069607 0.00343951 0.01743670
+v 0.04078303 0.00343951 0.01726133
+v 0.00383124 0.00649536 0.02203486
+v 0.03294398 0.00343950 0.02024901
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 27
+f 1 27 29
+f 1 29 28
+f 1 28 9
+f 1 9 4
+f 1 4 14
+f 1 14 38
+f 1 38 37
+f 1 37 40
+f 1 40 32
+f 1 32 17
+f 1 17 5
+f 1 5 2
+f 2 5 16
+f 2 16 6
+f 3 7 23
+f 3 23 8
+f 3 6 16
+f 3 16 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 16
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 15
+f 7 16 15
+f 7 15 20
+f 7 20 19
+f 7 19 18
+f 7 18 21
+f 7 21 22
+f 7 22 31
+f 7 31 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 9 28 10
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 11
+f 11 32 12
+f 12 33 13
+f 12 32 33
+f 13 33 34
+f 13 34 35
+f 13 35 36
+f 13 36 37
+f 13 37 38
+f 13 38 14
+f 17 39 18
+f 17 32 31
+f 17 31 22
+f 17 22 39
+f 18 39 21
+f 21 39 22
+f 23 31 24
+f 24 31 25
+f 25 30 26
+f 25 31 30
+f 26 30 29
+f 26 29 27
+f 32 40 35
+f 32 35 34
+f 32 34 33
+f 35 40 37
+f 35 37 36
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_24.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c55c99c1710b13576caa182923ca500160dd969e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_24.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.04314057 -0.01057848 0.01381838
+v -0.04288233 -0.01087604 0.01381838
+v -0.04338160 -0.01372606 0.02152152
+v -0.04341411 -0.01382588 0.02185003
+v -0.04443559 -0.01382590 0.02677305
+v -0.04413144 -0.01258227 0.02677305
+v -0.04319031 -0.01057853 0.02677306
+v -0.02489553 -0.01057848 0.01381838
+v -0.04188381 -0.01198901 0.01381838
+v -0.04331656 -0.01382588 0.02161429
+v -0.04425004 -0.01382590 0.02725972
+v -0.04362836 -0.01258227 0.02810684
+v -0.04330699 -0.01145785 0.02776618
+v -0.04314440 -0.01057853 0.02702552
+v -0.02489553 -0.01057849 0.01600689
+v -0.02489553 -0.01382585 0.01381837
+v -0.04274078 -0.01382588 0.02063790
+v -0.03868356 -0.01382585 0.01381837
+v -0.04379478 -0.01382590 0.02827718
+v -0.04227213 -0.01057853 0.02854790
+v -0.02489553 -0.01131826 0.01788516
+v -0.02654443 -0.01057853 0.02677306
+v -0.02489553 -0.01382588 0.02261958
+v -0.04229125 -0.01382591 0.02905281
+v -0.04225874 -0.01057853 0.02855550
+v -0.02489553 -0.01381221 0.02260741
+v -0.02698057 -0.01057853 0.02823612
+v -0.02700926 -0.01057853 0.02830304
+v -0.02734784 -0.01174174 0.02788785
+v -0.02846305 -0.01187843 0.02810229
+v -0.04031525 -0.01382591 0.02884141
+v -0.04156819 -0.01382591 0.02907107
+v -0.04031525 -0.01057854 0.02934939
+v -0.02763860 -0.01057854 0.02867413
+v -0.02702456 -0.01062304 0.02828935
+v -0.02840184 -0.01057854 0.02910910
+v -0.03995754 -0.01057854 0.02935395
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 20
+f 1 20 25
+f 1 25 33
+f 1 33 37
+f 1 37 36
+f 1 36 34
+f 1 34 28
+f 1 28 27
+f 1 27 22
+f 1 22 15
+f 1 15 8
+f 1 8 16
+f 1 16 18
+f 1 18 9
+f 1 9 2
+f 2 9 3
+f 3 10 4
+f 3 9 10
+f 4 10 17
+f 4 17 18
+f 4 18 16
+f 4 16 23
+f 4 23 31
+f 4 31 32
+f 4 32 24
+f 4 24 19
+f 4 19 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 21
+f 8 21 26
+f 8 26 23
+f 8 23 16
+f 9 17 10
+f 9 18 17
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 13 20 14
+f 15 22 21
+f 19 24 25
+f 19 25 20
+f 21 22 26
+f 22 27 23
+f 22 23 26
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 24 32 33
+f 24 33 25
+f 28 34 35
+f 28 35 29
+f 29 35 34
+f 29 34 36
+f 29 36 30
+f 30 36 31
+f 31 36 32
+f 32 37 33
+f 32 36 37
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_25.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e59caf858568edf2b967495acd54b7cf5248c2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_25.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00179167 -0.00082575 0.01888512
+v -0.00179301 -0.00249627 0.02540862
+v -0.00179301 -0.00190966 0.02353195
+v -0.00179301 -0.00187090 0.02340837
+v -0.00179301 -0.00134208 0.02285062
+v -0.00179301 0.00102867 0.02283969
+v -0.00179167 0.00339746 0.01888513
+v -0.00090709 -0.00133091 0.01888512
+v -0.00163304 -0.00176316 0.02216163
+v -0.00179301 -0.00282341 0.02677237
+v -0.00083853 -0.00136244 0.01888511
+v -0.00080357 -0.00327142 0.02677237
+v -0.00179301 0.00268734 0.02283970
+v -0.00179301 0.00326671 0.02677239
+v 0.00374839 0.00343947 0.02812303
+v 0.00348356 0.00343947 0.02702393
+v 0.00344860 0.00343947 0.02677239
+v 0.00365429 0.00343885 0.01888513
+v -0.00179301 -0.00237606 0.02835376
+v -0.00069737 -0.00142616 0.01888511
+v -0.00080357 -0.00256919 0.02855609
+v 0.00006084 -0.00186497 0.01989453
+v 0.00022217 -0.00186497 0.01989453
+v 0.00512097 -0.00285297 0.02677237
+v 0.00512097 -0.00247854 0.02842376
+v -0.00179301 0.00270703 0.02803554
+v 0.00514114 0.00343946 0.02915432
+v 0.00397290 0.00343947 0.02831113
+v 0.00436948 0.00343949 0.02283970
+v 0.01106165 0.00343885 0.01888513
+v -0.00179301 -0.00185909 0.02868076
+v -0.00080357 -0.00104651 0.02951958
+v 0.00709716 -0.00065561 0.01888512
+v 0.00709716 -0.00027531 0.02990236
+v 0.00716304 -0.00240497 0.02675378
+v 0.00709716 -0.00238526 0.02816347
+v 0.00709716 -0.00125475 0.02912806
+v -0.00179301 0.00016087 0.02966504
+v 0.00583482 0.00257630 0.02980831
+v 0.00695870 0.00343946 0.02947257
+v 0.01194085 0.00343949 0.02283970
+v 0.01106165 0.00272874 0.01888513
+v -0.00179301 0.00013985 0.02966722
+v -0.00080357 -0.00006641 0.02968910
+v 0.00829229 -0.00026082 0.01888512
+v 0.00825465 -0.00006773 0.02978643
+v 0.00709716 0.00113374 0.03005656
+v 0.00841328 -0.00021352 0.01888512
+v 0.00819146 -0.00206010 0.02738481
+v 0.00819146 -0.00206010 0.02789991
+v 0.00940810 0.00343946 0.02975801
+v 0.00915536 0.00343946 0.02973832
+v 0.01194085 0.00343948 0.02326293
+v 0.01194085 0.00329629 0.02283970
+v 0.01106165 0.00271757 0.01888622
+v 0.00860418 -0.00076207 0.02860531
+v 0.01072287 0.00343946 0.02882404
+v 0.00949952 0.00343946 0.02970114
+v 0.01194085 0.00329760 0.02284735
+v 0.01153351 0.00343947 0.02733452
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 7
+f 1 7 18
+f 1 18 30
+f 1 30 42
+f 1 42 48
+f 1 48 45
+f 1 45 33
+f 1 33 20
+f 1 20 11
+f 1 11 8
+f 1 8 9
+f 1 9 2
+f 2 10 19
+f 2 19 31
+f 2 31 43
+f 2 43 38
+f 2 38 26
+f 2 26 14
+f 2 14 13
+f 2 13 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 2 9 8
+f 2 8 11
+f 2 11 12
+f 2 12 10
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 10 12 19
+f 11 20 12
+f 12 21 19
+f 12 20 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 21
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 27
+f 15 27 40
+f 15 40 52
+f 15 52 51
+f 15 51 58
+f 15 58 57
+f 15 57 60
+f 15 60 53
+f 15 53 41
+f 15 41 29
+f 15 29 17
+f 15 17 16
+f 17 29 18
+f 18 29 41
+f 18 41 30
+f 19 21 32
+f 19 32 31
+f 20 23 22
+f 20 33 23
+f 21 25 34
+f 21 34 32
+f 23 33 24
+f 24 33 35
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 34
+f 26 38 27
+f 27 39 40
+f 27 38 39
+f 30 41 54
+f 30 54 42
+f 31 32 43
+f 32 44 43
+f 32 34 44
+f 33 45 35
+f 34 37 46
+f 34 46 47
+f 34 47 44
+f 35 45 48
+f 35 48 49
+f 35 49 50
+f 35 50 36
+f 36 50 46
+f 36 46 37
+f 38 43 47
+f 38 47 39
+f 39 47 51
+f 39 51 52
+f 39 52 40
+f 41 53 59
+f 41 59 54
+f 42 54 55
+f 42 55 48
+f 43 44 47
+f 46 50 56
+f 46 56 57
+f 46 57 58
+f 46 58 51
+f 46 51 47
+f 48 55 49
+f 49 55 54
+f 49 54 50
+f 50 54 59
+f 50 59 60
+f 50 60 56
+f 53 60 59
+f 56 60 57
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_26.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f5d77a7dc6e7676bbccb0b08e7389865b3e6de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_26.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.04549305 0.00343952 0.01381691
+v -0.03438941 0.00343952 0.01381691
+v -0.04450932 0.00343951 0.01739771
+v -0.04257664 0.00897463 0.01815337
+v -0.04024939 0.01491991 0.01815339
+v -0.03988742 0.01570992 0.01815340
+v -0.04191575 0.01030606 0.01381694
+v -0.03438941 0.00343950 0.01815335
+v -0.03438941 0.01328816 0.01381695
+v -0.04426692 0.00343950 0.01814571
+v -0.04235055 0.00815559 0.01815337
+v -0.03966459 0.01611124 0.01815340
+v -0.03973416 0.01433436 0.01381695
+v -0.03897435 0.00343950 0.01815335
+v -0.03438941 0.01376518 0.01815339
+v -0.03471660 0.01363017 0.01381695
+v -0.03438941 0.01356580 0.01381737
+v -0.03941675 0.00391023 0.01815335
+v -0.04196249 0.00730374 0.01815337
+v -0.03834063 0.01633082 0.01815340
+v -0.03955806 0.01601155 0.01757563
+v -0.03834063 0.01492876 0.01381695
+v -0.03438941 0.01377907 0.01737058
+v -0.03711342 0.01605192 0.01815340
+v -0.03661231 0.01446687 0.01381695
+v -0.03717972 0.01597495 0.01754379
+v -0.03764713 0.01622734 0.01815340
+v -0.03834063 0.01607465 0.01729121
+v -0.03834063 0.01576041 0.01632713
+v -0.03711668 0.01465996 0.01381695
+f 1 2 8
+f 1 8 14
+f 1 14 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 22
+f 1 22 30
+f 1 30 25
+f 1 25 16
+f 1 16 9
+f 1 9 2
+f 2 9 17
+f 2 17 23
+f 2 23 15
+f 2 15 8
+f 3 10 4
+f 4 11 19
+f 4 19 18
+f 4 18 14
+f 4 14 8
+f 4 8 15
+f 4 15 24
+f 4 24 27
+f 4 27 20
+f 4 20 12
+f 4 12 6
+f 4 6 5
+f 4 10 11
+f 6 12 13
+f 6 13 7
+f 9 16 17
+f 10 14 18
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 15 23 24
+f 16 25 17
+f 17 25 26
+f 17 26 24
+f 17 24 23
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 21 29 22
+f 22 29 26
+f 22 26 30
+f 24 26 27
+f 25 30 26
+f 26 29 28
+f 26 28 27
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_27.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caebf0b35a217afb75d25324df38deac84edec31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_27.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.03438941 0.00343952 0.01381691
+v -0.03438941 0.01074432 0.01381694
+v -0.02793934 0.00343952 0.01381691
+v -0.03438941 0.00343947 0.02840318
+v -0.02935564 0.01074432 0.01381694
+v -0.03438941 0.01074429 0.02243909
+v -0.02793934 0.00698896 0.01381693
+v -0.02793934 0.00343949 0.02146382
+v -0.03405665 0.00343947 0.02841257
+v -0.03178539 0.00745653 0.02980892
+v -0.03178539 0.00842898 0.02980892
+v -0.03438941 0.00697389 0.02828893
+v -0.03246039 0.01074429 0.02114921
+v -0.03043855 0.01073211 0.02677208
+v -0.02889470 0.01023517 0.02677208
+v -0.02817297 0.00897313 0.02677207
+v -0.03438941 0.00790773 0.02735752
+v -0.03373904 0.00863778 0.02816839
+v -0.03332608 0.00986764 0.02677208
+v -0.03207774 0.01033098 0.02827172
+v -0.03299584 0.01074429 0.02231855
+v -0.02834535 0.00701393 0.02677207
+v -0.02917126 0.00553166 0.02810577
+v -0.02986078 0.00343947 0.02677205
+v -0.03255763 0.00343947 0.02839692
+v -0.03043855 0.00752946 0.02979013
+v -0.03043855 0.00837892 0.02979013
+v -0.03043855 0.00935852 0.02935809
+v -0.03259046 0.00918620 0.02886342
+v -0.03438941 0.00698033 0.02828580
+v -0.03043855 0.01039819 0.02839382
+v -0.02895026 0.01016867 0.02807761
+v -0.02882461 0.00882439 0.02871158
+v -0.02895721 0.00716050 0.02872880
+v -0.02941626 0.00791201 0.02968838
+v -0.03043855 0.00655058 0.02941913
+v -0.02941626 0.00807146 0.02968838
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 24
+f 1 24 25
+f 1 25 9
+f 1 9 4
+f 1 4 12
+f 1 12 30
+f 1 30 17
+f 1 17 6
+f 1 6 2
+f 2 6 21
+f 2 21 13
+f 2 13 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 7
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 14
+f 6 14 21
+f 7 16 8
+f 8 16 22
+f 8 22 23
+f 8 23 24
+f 9 25 10
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 11 27 28
+f 11 28 20
+f 11 20 29
+f 11 29 18
+f 11 18 12
+f 12 18 30
+f 13 21 14
+f 14 20 31
+f 14 31 32
+f 14 32 15
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 22
+f 17 30 18
+f 18 29 20
+f 18 20 19
+f 20 28 31
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 25
+f 23 25 24
+f 25 36 26
+f 26 36 35
+f 26 35 37
+f 26 37 27
+f 27 37 28
+f 28 37 32
+f 28 32 31
+f 32 37 33
+f 33 37 35
+f 33 35 34
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_28.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b95bc6dfe4a07bf29c87973b1a880208eebc9d31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_28.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00493663 -0.02762351 0.02283801
+v 0.01105006 -0.02821610 0.02283801
+v 0.00566465 -0.02729284 0.02390184
+v 0.00493663 -0.02745964 0.02322210
+v 0.00493663 -0.01594725 0.02283805
+v 0.01105006 -0.02760450 0.02421302
+v 0.01907627 -0.02621299 0.02283801
+v 0.01907627 -0.02622616 0.02286231
+v 0.01697525 -0.02619985 0.02677268
+v 0.00493663 -0.02661392 0.02429604
+v 0.01558842 -0.02555750 0.02794654
+v 0.00493663 -0.01620625 0.02484555
+v 0.00597607 -0.01544247 0.02616250
+v 0.00577815 -0.01524785 0.02283805
+v 0.01697525 -0.02556628 0.02795329
+v 0.01907627 -0.01341594 0.02283806
+v 0.01907627 -0.02618081 0.02315392
+v 0.01907627 -0.02587793 0.02485698
+v 0.01835378 -0.02567310 0.02677269
+v 0.01806451 -0.02540972 0.02781558
+v 0.00493663 -0.02658173 0.02431832
+v 0.00493663 -0.02648662 0.02438312
+v 0.01697525 -0.02434013 0.02843592
+v 0.00493663 -0.02049048 0.02819360
+v 0.00493663 -0.02058851 0.02815918
+v 0.00493663 -0.02072020 0.02810383
+v 0.00493663 -0.02139766 0.02771569
+v 0.00493663 -0.01647695 0.02687329
+v 0.01105006 -0.01504302 0.02826247
+v 0.01105006 -0.01442702 0.02677273
+v 0.01162998 -0.01329595 0.02283806
+v 0.00585842 -0.01521420 0.02283805
+v 0.00555531 -0.01693054 0.02812950
+v 0.00709855 -0.01569122 0.02723375
+v 0.01873440 -0.01331790 0.02283806
+v 0.01907627 -0.01510448 0.02812342
+v 0.01907627 -0.02514635 0.02610982
+v 0.01907627 -0.02435330 0.02678146
+v 0.01907627 -0.02419235 0.02686044
+v 0.01828458 -0.02434013 0.02800054
+v 0.01816832 -0.01770165 0.02973400
+v 0.01766037 -0.01770165 0.02973400
+v 0.00709855 -0.01846251 0.02884365
+v 0.00493663 -0.01841128 0.02834009
+v 0.00493663 -0.01725829 0.02787366
+v 0.01302374 -0.01502108 0.02829015
+v 0.01302374 -0.01437873 0.02677273
+v 0.00709855 -0.01667155 0.02831648
+v 0.01105006 -0.01650183 0.02900904
+v 0.01766037 -0.01722172 0.02973401
+v 0.01202721 -0.01355787 0.02390526
+v 0.01171441 -0.01327693 0.02283806
+v 0.00493663 -0.01835569 0.02833132
+v 0.01714688 -0.01327693 0.02283806
+v 0.01799808 -0.01354763 0.02391606
+v 0.01697525 -0.01510009 0.02828880
+v 0.01907627 -0.01514837 0.02820240
+v 0.01907627 -0.01838496 0.02897055
+v 0.01907627 -0.01821377 0.02901781
+v 0.01907627 -0.01653841 0.02907992
+v 0.01816832 -0.01722172 0.02973401
+v 0.01791919 -0.01354763 0.02391606
+v 0.01283827 -0.01326815 0.02283806
+v 0.01907627 -0.01639356 0.02904684
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 21
+f 1 21 22
+f 1 22 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 44
+f 1 44 53
+f 1 53 45
+f 1 45 28
+f 1 28 12
+f 1 12 5
+f 1 5 14
+f 1 14 32
+f 1 32 31
+f 1 31 52
+f 1 52 63
+f 1 63 54
+f 1 54 35
+f 1 35 16
+f 1 16 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 4
+f 3 6 11
+f 3 11 10
+f 5 12 13
+f 5 13 14
+f 6 9 15
+f 6 15 11
+f 7 16 36
+f 7 36 57
+f 7 57 64
+f 7 64 60
+f 7 60 59
+f 7 59 58
+f 7 58 39
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+f 7 38 37
+f 7 37 18
+f 7 18 17
+f 7 17 8
+f 8 17 9
+f 9 17 18
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+f 9 19 20
+f 9 20 15
+f 10 11 21
+f 11 22 21
+f 11 15 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 22
+f 12 28 13
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 14
+f 13 28 33
+f 13 33 34
+f 13 34 29
+f 15 20 23
+f 16 35 36
+f 18 37 19
+f 19 37 20
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 23
+f 23 41 42
+f 23 42 43
+f 23 43 24
+f 24 43 44
+f 28 45 33
+f 29 46 47
+f 29 47 30
+f 29 34 33
+f 29 33 48
+f 29 48 49
+f 29 49 50
+f 29 50 46
+f 30 47 51
+f 30 51 52
+f 30 52 31
+f 33 49 48
+f 33 45 53
+f 33 53 43
+f 33 43 49
+f 35 54 55
+f 35 55 36
+f 36 47 56
+f 36 56 57
+f 36 55 47
+f 39 58 40
+f 40 58 59
+f 40 59 41
+f 41 59 60
+f 41 60 61
+f 41 61 50
+f 41 50 42
+f 42 50 43
+f 43 50 49
+f 43 53 44
+f 46 50 61
+f 46 61 56
+f 46 56 47
+f 47 55 62
+f 47 62 51
+f 51 62 63
+f 51 63 52
+f 54 63 55
+f 55 63 62
+f 56 61 57
+f 57 61 64
+f 60 64 61
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_29.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b7560f9d87045fc9c1496f55ff15eb94aa2f563
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_29.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02635296 -0.00282771 0.01381689
+v -0.02635296 -0.00282774 0.02220933
+v -0.02635296 -0.00109588 0.01381690
+v -0.00179301 -0.00282771 0.01381689
+v -0.02429027 -0.00282776 0.02677114
+v -0.02635296 0.00106473 0.02382538
+v -0.02635296 0.00343952 0.01381853
+v -0.00179301 -0.00109588 0.01381690
+v -0.00179301 -0.00282772 0.01514984
+v -0.02371810 -0.00282776 0.02784042
+v -0.02635296 0.00294442 0.02292435
+v -0.02196795 0.00309409 0.02834515
+v -0.02191505 0.00343947 0.02826588
+v -0.02635296 0.00343949 0.02197317
+v -0.00179301 0.00343952 0.01381853
+v -0.00179301 -0.00282285 0.02677114
+v -0.00500485 -0.00282776 0.02677114
+v -0.02275407 -0.00282777 0.02873337
+v -0.02635296 0.00295424 0.02291465
+v -0.02080438 0.00309408 0.02930766
+v -0.02037405 0.00343946 0.02943545
+v -0.02605726 0.00343949 0.02258626
+v -0.00179301 0.00343950 0.01868931
+v -0.00179301 -0.00237563 0.02835321
+v -0.00679828 -0.00282777 0.02882881
+v -0.00539431 -0.00282776 0.02798115
+v -0.02062167 -0.00282777 0.02958749
+v -0.02022740 -0.00242840 0.02985441
+v -0.02022740 -0.00119593 0.02985442
+v -0.01981630 0.00309408 0.02973634
+v -0.01973457 0.00343946 0.02971369
+v -0.00208631 0.00343947 0.02677278
+v -0.00179301 0.00326709 0.02677278
+v -0.00179301 -0.00185910 0.02867998
+v -0.00753152 -0.00195725 0.02975897
+v -0.00856527 -0.00282777 0.02905852
+v -0.02029952 -0.00282777 0.02958749
+v -0.01896767 -0.00242840 0.02985441
+v -0.01463314 0.00113465 0.03034295
+v -0.01233244 0.00343946 0.02999355
+v -0.00279310 0.00343947 0.02813000
+v -0.00179301 0.00270760 0.02803617
+v -0.00179301 0.00014144 0.02966515
+v -0.00870711 -0.00082417 0.02994177
+v -0.01265940 0.00113465 0.03025883
+v -0.00897396 0.00343946 0.03003884
+v -0.01028658 0.00343946 0.03006634
+v -0.00179301 0.00016229 0.02966515
+v -0.00770702 0.00343946 0.02970075
+v -0.00878404 0.00343946 0.03002266
+v -0.00870711 0.00343946 0.03000163
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 26
+f 1 26 25
+f 1 25 36
+f 1 36 37
+f 1 37 27
+f 1 27 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 15
+f 3 15 8
+f 4 8 15
+f 4 15 23
+f 4 23 33
+f 4 33 42
+f 4 42 48
+f 4 48 43
+f 4 43 34
+f 4 34 24
+f 4 24 16
+f 4 16 9
+f 5 10 6
+f 6 10 12
+f 6 12 13
+f 6 13 11
+f 7 14 22
+f 7 22 13
+f 7 13 21
+f 7 21 31
+f 7 31 40
+f 7 40 47
+f 7 47 46
+f 7 46 50
+f 7 50 51
+f 7 51 49
+f 7 49 41
+f 7 41 32
+f 7 32 23
+f 7 23 15
+f 9 16 17
+f 10 18 12
+f 11 13 19
+f 12 20 13
+f 12 18 20
+f 13 20 21
+f 13 22 19
+f 14 19 22
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 18 27 28
+f 18 28 29
+f 18 29 20
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 23 32 33
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 29
+f 29 39 30
+f 30 39 31
+f 31 39 40
+f 32 41 33
+f 33 41 42
+f 34 43 35
+f 35 44 39
+f 35 39 38
+f 35 38 37
+f 35 37 36
+f 35 43 44
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 41 48 42
+f 41 49 48
+f 43 45 44
+f 43 48 45
+f 45 48 46
+f 46 48 50
+f 48 49 51
+f 48 51 50
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_3.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25aa5ef063d3c1ba816c6bb5ec512945285ae26a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_3.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02262957 -0.02290471 0.00993187
+v -0.02262957 -0.02275723 0.01141118
+v -0.02262957 0.02516620 0.00993204
+v -0.02223393 -0.02586553 0.00993185
+v -0.02262957 -0.02275156 0.01142566
+v -0.02262957 0.02520024 0.01142583
+v -0.01836524 0.02817241 0.00993205
+v -0.02216377 -0.02613212 0.00993185
+v -0.02125555 -0.02614914 0.01142564
+v -0.01799104 0.02784343 0.01142584
+v -0.01707893 0.02834824 0.00993205
+v -0.02154595 -0.02702264 0.00993185
+v -0.02029081 -0.02790748 0.01142564
+v -0.01272300 0.02809867 0.01142584
+v -0.01673981 0.02835959 0.00993205
+v -0.02054808 -0.02817407 0.00993185
+v -0.02020116 -0.02793584 0.01142564
+v -0.01095919 0.02806464 0.01142584
+v -0.01073117 0.02792851 0.00993205
+v -0.02029666 -0.02822512 0.00993185
+v -0.01858353 -0.02827050 0.01142564
+v -0.01089293 0.02805329 0.01142584
+v -0.00272094 0.02358369 0.00993204
+v -0.01858353 -0.02849738 0.00993185
+v -0.01265869 -0.02913265 0.01142563
+v -0.01080523 0.02799657 0.01142584
+v -0.00272094 -0.02867889 0.00993184
+v -0.00276966 0.02231315 0.01142582
+v -0.00272094 0.02212029 0.01142582
+v -0.00524289 -0.02902488 0.00993184
+v -0.00576717 -0.02924609 0.01035007
+v -0.00489403 -0.02958642 0.01142563
+v -0.00272094 -0.02919505 0.01142563
+v -0.00490378 -0.02897951 0.00993184
+v -0.00565997 -0.02924609 0.01035007
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 23
+f 1 23 27
+f 1 27 34
+f 1 34 30
+f 1 30 24
+f 1 24 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 5 9 13
+f 5 13 17
+f 5 17 21
+f 5 21 25
+f 5 25 32
+f 5 32 33
+f 5 33 29
+f 5 29 28
+f 5 28 26
+f 5 26 22
+f 5 22 18
+f 5 18 14
+f 5 14 10
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 23
+f 23 26 28
+f 23 28 29
+f 23 29 33
+f 23 33 27
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 27 33 32
+f 27 32 34
+f 30 34 32
+f 30 32 35
+f 30 35 31
+f 31 35 32
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_30.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ba88b1f08026cbb10f6b791146263ca856a3b2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_30.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.04204269 0.00114027 0.01684367
+v -0.04204269 -0.00069805 0.01381835
+v -0.04204269 0.00286789 0.01501394
+v -0.04281555 0.00113491 0.02677193
+v -0.04216790 -0.00084229 0.01381835
+v -0.04204269 0.00343952 0.01381836
+v -0.04301416 -0.00028243 0.02677193
+v -0.04204269 0.00305951 0.01470850
+v -0.04308077 0.00238086 0.02677194
+v -0.04325286 0.00214668 0.02776244
+v -0.04320722 0.00113491 0.02781625
+v -0.04321030 0.00003159 0.02781625
+v -0.04204269 0.00343952 0.01410199
+v -0.04426751 -0.00122549 0.01381835
+v -0.04395541 -0.00126227 0.02677193
+v -0.04484361 -0.00199780 0.02527672
+v -0.04549373 0.00343952 0.01381836
+v -0.04448278 0.00343947 0.02658141
+v -0.04442541 0.00338518 0.02663668
+v -0.04426751 0.00248092 0.02803007
+v -0.04426751 0.00113491 0.02840095
+v -0.04446242 -0.00070289 0.02803442
+v -0.04525009 -0.00180621 0.02773915
+v -0.04572996 -0.00075553 0.01381835
+v -0.04624253 -0.00198077 0.02531163
+v -0.04728802 -0.00184665 0.02567816
+v -0.04494292 -0.00195044 0.02677192
+v -0.04605070 -0.00194672 0.02667157
+v -0.04618702 0.00311965 0.01381836
+v -0.04640599 0.00343948 0.02496257
+v -0.04614693 0.00343947 0.02695230
+v -0.04624253 0.00265603 0.02816534
+v -0.04624253 0.00113490 0.02867585
+v -0.04605070 -0.00087534 0.02814496
+v -0.04526427 -0.00180621 0.02773915
+v -0.04605255 -0.00063525 0.01381835
+v -0.04728802 -0.00184666 0.02596033
+v -0.04774569 -0.00087534 0.02667158
+v -0.04773027 -0.00084925 0.02495820
+v -0.04661693 0.00113496 0.01381835
+v -0.04829527 0.00113492 0.02484475
+v -0.04771362 0.00266242 0.02484476
+v -0.04642449 0.00343948 0.02532183
+v -0.04633690 0.00343947 0.02684758
+v -0.04745579 0.00237980 0.02794280
+v -0.04761246 0.00113491 0.02808969
+v -0.04751439 -0.00025635 0.02800097
+v -0.04658116 -0.00156298 0.02724608
+v -0.04618640 -0.00031804 0.01381835
+v -0.04834338 0.00113491 0.02677193
+v -0.04774261 0.00270286 0.02677194
+v -0.04647322 0.00343947 0.02666577
+f 1 2 6
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+f 1 8 3
+f 1 3 4
+f 1 4 2
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+f 2 14 24
+f 2 24 36
+f 2 36 49
+f 2 49 40
+f 2 40 29
+f 2 29 17
+f 2 17 6
+f 2 4 7
+f 2 7 5
+f 3 8 4
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+f 4 10 11
+f 4 11 12
+f 4 12 7
+f 4 8 13
+f 4 13 9
+f 5 7 15
+f 5 15 16
+f 5 16 14
+f 6 17 30
+f 6 30 43
+f 6 43 52
+f 6 52 44
+f 6 44 31
+f 6 31 18
+f 6 18 13
+f 7 12 15
+f 9 18 19
+f 9 19 10
+f 9 13 18
+f 10 20 21
+f 10 21 11
+f 10 19 20
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 15
+f 14 16 25
+f 14 25 26
+f 14 26 24
+f 15 23 27
+f 15 27 16
+f 16 27 28
+f 16 28 25
+f 17 29 30
+f 18 31 20
+f 18 20 19
+f 20 32 33
+f 20 33 21
+f 20 31 32
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 27
+f 24 26 36
+f 25 28 37
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 36
+f 27 35 28
+f 28 35 37
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 42 43
+f 31 44 32
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 34 47 35
+f 35 48 37
+f 35 47 48
+f 36 39 49
+f 37 48 47
+f 37 47 38
+f 38 50 39
+f 38 47 50
+f 39 50 41
+f 39 41 40
+f 39 40 49
+f 41 50 42
+f 42 50 51
+f 42 51 43
+f 43 51 52
+f 44 52 51
+f 44 51 45
+f 45 51 50
+f 45 50 46
+f 46 50 47
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_31.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b305e0a616fdc97b95686128a8410cfcff20d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_31.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00202777 0.00861951 0.01381693
+v 0.00459882 0.00861951 0.01381693
+v -0.00202777 0.00861950 0.01737291
+v -0.00202777 0.01596740 0.01381696
+v 0.00631550 0.02255072 0.01381698
+v 0.00631550 0.01699297 0.01693455
+v 0.00459882 0.00861947 0.02566514
+v -0.00103387 0.00861949 0.01906238
+v 0.00003191 0.00989836 0.02822802
+v -0.00069657 0.01036508 0.02880129
+v -0.00202777 0.01135534 0.02870856
+v -0.00202777 0.01634815 0.01469710
+v -0.00202614 0.02430399 0.02080081
+v -0.00006936 0.02011114 0.01381697
+v 0.00631550 0.02430402 0.01381699
+v 0.00631550 0.01699292 0.02872713
+v 0.00376907 0.00861947 0.02568706
+v 0.00245420 0.01151654 0.03001023
+v 0.00117201 0.01114193 0.03033733
+v 0.00113035 0.01019619 0.02880129
+v -0.00080356 0.00861949 0.01944681
+v 0.00044270 0.00989836 0.02822802
+v -0.00080356 0.01124173 0.03024797
+v -0.00196734 0.01165165 0.02989389
+v -0.00202777 0.01157028 0.02944876
+v -0.00202777 0.01682715 0.01633430
+v 0.00472623 0.02430402 0.01381699
+v -0.00202777 0.01699143 0.01699357
+v -0.00202614 0.02430398 0.02474122
+v 0.00631550 0.02430401 0.01698854
+v 0.00631550 0.01877078 0.02884348
+v 0.00117201 0.01289370 0.03104213
+v 0.00261754 0.01289370 0.03019739
+v -0.00080356 0.01289370 0.03087352
+v -0.00202777 0.01289370 0.03006419
+v -0.00202777 0.01231796 0.02996640
+v -0.00202777 0.01699138 0.02894969
+v 0.00022547 0.02430397 0.02771887
+v -0.00202614 0.02030301 0.02823311
+v 0.00495980 0.02430398 0.02484407
+v 0.00631550 0.02107526 0.02678645
+v 0.00631550 0.01961520 0.02845736
+v 0.00418885 0.02388330 0.02778294
+v 0.00358205 0.02430397 0.02790940
+v 0.00314267 0.02430397 0.02798190
+v 0.00118262 0.02430397 0.02798864
+v 0.00289685 0.02430397 0.02798359
+v -0.00202614 0.01877078 0.02893621
+v -0.00199919 0.01418180 0.02992256
+v -0.00202777 0.01372582 0.02996134
+v 0.00087963 0.02430397 0.02794649
+v 0.00071466 0.02430397 0.02791446
+v -0.00202777 0.01421251 0.02986860
+v -0.00202614 0.01942021 0.02864452
+v 0.00458167 0.02430397 0.02685053
+v 0.00631550 0.02022471 0.02817747
+v 0.00440363 0.02430397 0.02722990
+f 1 2 7
+f 1 7 17
+f 1 17 21
+f 1 21 8
+f 1 8 3
+f 1 3 11
+f 1 11 25
+f 1 25 36
+f 1 36 35
+f 1 35 50
+f 1 50 53
+f 1 53 37
+f 1 37 28
+f 1 28 26
+f 1 26 12
+f 1 12 4
+f 1 4 14
+f 1 14 27
+f 1 27 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 16
+f 2 16 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 13 14
+f 5 15 30
+f 5 30 41
+f 5 41 56
+f 5 56 42
+f 5 42 31
+f 5 31 16
+f 5 16 6
+f 7 16 18
+f 7 18 19
+f 7 19 20
+f 7 20 17
+f 8 21 9
+f 9 22 20
+f 9 20 19
+f 9 19 23
+f 9 23 10
+f 9 21 17
+f 9 17 22
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 12 26 13
+f 13 27 14
+f 13 26 28
+f 13 28 37
+f 13 37 29
+f 13 29 38
+f 13 38 52
+f 13 52 51
+f 13 51 46
+f 13 46 47
+f 13 47 45
+f 13 45 44
+f 13 44 57
+f 13 57 55
+f 13 55 40
+f 13 40 30
+f 13 30 15
+f 13 15 27
+f 16 31 32
+f 16 32 33
+f 16 33 18
+f 17 20 22
+f 18 33 32
+f 18 32 19
+f 19 32 23
+f 23 32 34
+f 23 34 24
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 29 37 39
+f 29 39 38
+f 30 40 41
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 32 46 34
+f 32 45 47
+f 32 47 46
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 34 46 51
+f 34 51 52
+f 34 52 48
+f 37 53 48
+f 37 48 54
+f 37 54 39
+f 38 39 54
+f 38 54 48
+f 38 48 52
+f 40 55 41
+f 41 55 56
+f 42 56 43
+f 43 57 44
+f 43 56 57
+f 48 53 49
+f 49 53 50
+f 55 57 56
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_32.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95b76525be2229891713023ec4b2e45aeb6a7e52
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_32.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.04240919 0.00811596 0.02296993
+v -0.03960582 0.00373795 0.02296991
+v -0.04617896 0.00343948 0.02455436
+v -0.04640607 0.00343948 0.02496362
+v -0.04336613 0.00811595 0.02561562
+v -0.03827156 0.00811596 0.02296993
+v -0.03904159 0.00343949 0.02296991
+v -0.04642381 0.00343948 0.02532231
+v -0.04368195 0.00811594 0.02677261
+v -0.04345839 0.00811594 0.02588262
+v -0.03717150 0.00811595 0.02559135
+v -0.03438941 0.00809580 0.02677261
+v -0.03438941 0.00696331 0.02502432
+v -0.03455738 0.00515655 0.02296992
+v -0.03438941 0.00343949 0.02296991
+v -0.04647231 0.00343947 0.02666606
+v -0.04363582 0.00811594 0.02828694
+v -0.03686277 0.00811594 0.02677261
+v -0.03438941 0.00790766 0.02735717
+v -0.03703192 0.00811594 0.02810490
+v -0.03836145 0.00811593 0.02891667
+v -0.03438941 0.00478210 0.02296992
+v -0.03442135 0.00487731 0.02296992
+v -0.03452899 0.00509933 0.02296992
+v -0.03438941 0.00343947 0.02840356
+v -0.04633629 0.00343947 0.02684743
+v -0.04259254 0.00811593 0.02911894
+v -0.03438941 0.00697978 0.02828627
+v -0.03717623 0.00628215 0.02977159
+v -0.04021144 0.00811593 0.02937313
+v -0.03720817 0.00505444 0.02975271
+v -0.03733591 0.00406018 0.02967517
+v -0.03676223 0.00343946 0.02886743
+v -0.03438941 0.00696742 0.02828964
+v -0.04614584 0.00343947 0.02695261
+v -0.04227908 0.00811593 0.02935358
+v -0.03438941 0.00697383 0.02828896
+v -0.03834134 0.00642222 0.02983564
+v -0.03834134 0.00505444 0.02985655
+v -0.03834134 0.00404370 0.02968663
+v -0.03936215 0.00404828 0.02968326
+v -0.03834134 0.00343946 0.02880203
+v -0.03951119 0.00505444 0.02976957
+v -0.03953958 0.00630320 0.02978575
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 17
+f 1 17 27
+f 1 27 36
+f 1 36 30
+f 1 30 21
+f 1 21 20
+f 1 20 18
+f 1 18 11
+f 1 11 6
+f 1 6 14
+f 1 14 24
+f 1 24 23
+f 1 23 22
+f 1 22 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 15
+f 3 15 25
+f 3 25 33
+f 3 33 42
+f 3 42 35
+f 3 35 26
+f 3 26 16
+f 3 16 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 8 16 9
+f 9 16 17
+f 11 18 12
+f 12 19 28
+f 12 28 37
+f 12 37 34
+f 12 34 25
+f 12 25 15
+f 12 15 22
+f 12 22 13
+f 12 18 20
+f 12 20 21
+f 12 21 19
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 16 26 17
+f 17 26 27
+f 19 21 28
+f 21 29 28
+f 21 30 29
+f 25 29 31
+f 25 31 32
+f 25 32 33
+f 25 34 29
+f 26 35 36
+f 26 36 27
+f 28 29 37
+f 29 30 38
+f 29 38 39
+f 29 39 31
+f 29 34 37
+f 30 36 38
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 35 41 36
+f 35 42 41
+f 36 41 43
+f 36 43 44
+f 36 44 38
+f 38 44 39
+f 39 44 43
+f 39 43 41
+f 39 41 40
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_33.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a25325d0b919673d272a766fac81c5bda2f638fd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_33.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02489318 -0.01811628 0.02925118
+v -0.02045880 -0.01845464 0.02863628
+v -0.02045880 -0.01837318 0.02863931
+v -0.02489318 -0.01687351 0.02904421
+v -0.02489318 -0.02629973 0.02616609
+v -0.02458888 -0.02629973 0.02677192
+v -0.02365902 -0.02742135 0.02784459
+v -0.02253599 -0.02629973 0.02835827
+v -0.02077830 -0.02629973 0.02812409
+v -0.02045880 -0.02629973 0.02791711
+v -0.02045880 -0.01663957 0.02817550
+v -0.02489318 -0.01575188 0.02836435
+v -0.02489318 -0.02771376 0.02464169
+v -0.02395031 -0.02772212 0.02677192
+v -0.02253599 -0.02837588 0.02677192
+v -0.02253599 -0.02758844 0.02797603
+v -0.02113514 -0.02754876 0.02794733
+v -0.02045880 -0.02692007 0.02771315
+v -0.02045880 -0.01589182 0.02716326
+v -0.02489318 -0.01508977 0.02708923
+v -0.02489318 -0.02782237 0.02445284
+v -0.02162394 -0.03128956 0.02015611
+v -0.02056038 -0.03159660 0.02056100
+v -0.02045880 -0.03160287 0.02057006
+v -0.02051002 -0.02792054 0.02678854
+v -0.02045880 -0.02789966 0.02675833
+v -0.02045880 -0.01088102 0.01381837
+v -0.02445083 -0.01058026 0.01599241
+v -0.02489318 -0.01131966 0.01788545
+v -0.02489318 -0.02792679 0.02231204
+v -0.02161048 -0.03127285 0.01906078
+v -0.02056038 -0.03189945 0.01906077
+v -0.02045880 -0.03191616 0.01906077
+v -0.02251559 -0.01058025 0.01381837
+v -0.02253209 -0.01058025 0.01385765
+v -0.02263236 -0.01058025 0.01397398
+v -0.02045880 -0.02859096 0.01381830
+v -0.02489318 -0.01058026 0.01600601
+v -0.02489318 -0.02788710 0.02099009
+v -0.02155578 -0.03120601 0.01808631
+v -0.02056038 -0.03150260 0.01775091
+v -0.02045880 -0.03153811 0.01781738
+v -0.02489318 -0.01058025 0.01381837
+v -0.02045880 -0.03151096 0.01774184
+v -0.02489318 -0.02401884 0.01381832
+v -0.02489318 -0.02773671 0.02040389
+v -0.02489318 -0.02725840 0.01947022
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 20
+f 1 20 29
+f 1 29 38
+f 1 38 43
+f 1 43 45
+f 1 45 47
+f 1 47 46
+f 1 46 39
+f 1 39 30
+f 1 30 21
+f 1 21 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 18
+f 2 18 26
+f 2 26 24
+f 2 24 33
+f 2 33 42
+f 2 42 44
+f 2 44 37
+f 2 37 27
+f 2 27 19
+f 2 19 11
+f 2 11 3
+f 3 11 4
+f 4 11 12
+f 5 13 7
+f 5 7 6
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 10
+f 10 17 18
+f 11 19 12
+f 12 19 20
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 17
+f 15 17 16
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 21 30 22
+f 22 31 32
+f 22 32 23
+f 22 30 31
+f 23 32 33
+f 23 33 24
+f 24 26 25
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 27 37 45
+f 27 45 43
+f 27 43 34
+f 28 38 29
+f 28 36 35
+f 28 35 34
+f 28 34 43
+f 28 43 38
+f 30 39 31
+f 31 40 32
+f 31 39 40
+f 32 40 41
+f 32 41 33
+f 33 41 42
+f 37 44 41
+f 37 41 40
+f 37 40 45
+f 39 46 40
+f 40 46 47
+f 40 47 45
+f 41 44 42
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_34.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49378c380cc15e3b5ade705d940bbe876f512e1c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_34.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02412428 -0.00143644 0.01585142
+v 0.02386831 -0.00143644 0.01621892
+v 0.03487802 -0.00234667 0.01585142
+v 0.01300971 -0.00143644 0.01585142
+v 0.02299555 -0.00143644 0.01717833
+v 0.03460664 -0.00351456 0.01888402
+v 0.04003131 -0.00358273 0.01672386
+v 0.04021327 -0.00343929 0.01585142
+v 0.01035442 -0.00225635 0.01585142
+v 0.01127961 -0.00328170 0.01888402
+v 0.01723164 -0.00143645 0.01877686
+v 0.04068203 -0.00474886 0.01888401
+v 0.01714837 -0.00201021 0.01888402
+v 0.04177066 -0.00555992 0.01888401
+v 0.04045381 -0.00364914 0.01585142
+v 0.01035442 -0.00651529 0.01585141
+v 0.01035442 -0.00399978 0.01888402
+v 0.01147698 -0.00322768 0.01888402
+v 0.01302821 -0.00283189 0.01888402
+v 0.04186010 -0.00658702 0.01888401
+v 0.04179842 -0.00544657 0.01713290
+v 0.04113537 -0.00440619 0.01585141
+v 0.01035442 -0.00666228 0.01644422
+v 0.01060422 -0.01048204 0.01585139
+v 0.01035442 -0.00706339 0.01888400
+v 0.04185393 -0.00669770 0.01888401
+v 0.04176758 -0.00617617 0.01585141
+v 0.04177375 -0.00542532 0.01585141
+v 0.01127652 -0.01048204 0.01686216
+v 0.03707688 -0.01048204 0.01585139
+v 0.01261496 -0.01048204 0.01741281
+v 0.01187481 -0.00779122 0.01888400
+v 0.04176758 -0.00771684 0.01888400
+v 0.04174908 -0.00780981 0.01888400
+v 0.04167197 -0.00768939 0.01807420
+v 0.04116929 -0.00708020 0.01585140
+v 0.04023177 -0.00791428 0.01585140
+v 0.04068511 -0.00848894 0.01888400
+v 0.03698745 -0.01048204 0.01694617
+v 0.02261622 -0.01048205 0.01888399
+v 0.03647551 -0.01048205 0.01888399
+v 0.03695969 -0.01048204 0.01713288
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 22
+f 1 22 28
+f 1 28 27
+f 1 27 36
+f 1 36 37
+f 1 37 30
+f 1 30 24
+f 1 24 16
+f 1 16 9
+f 1 9 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 19
+f 6 19 18
+f 6 18 10
+f 6 10 17
+f 6 17 25
+f 6 25 32
+f 6 32 40
+f 6 40 41
+f 6 41 38
+f 6 38 34
+f 6 34 33
+f 6 33 26
+f 6 26 20
+f 6 20 14
+f 6 14 12
+f 7 12 8
+f 8 12 14
+f 8 14 15
+f 9 16 23
+f 9 23 25
+f 9 25 17
+f 9 17 10
+f 10 18 11
+f 11 18 19
+f 11 19 13
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 16 24 23
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 21 28 22
+f 23 24 25
+f 24 29 25
+f 24 30 39
+f 24 39 42
+f 24 42 41
+f 24 41 40
+f 24 40 31
+f 24 31 29
+f 25 29 31
+f 25 31 32
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 30 37 35
+f 30 35 34
+f 30 34 38
+f 30 38 39
+f 31 40 32
+f 35 37 36
+f 38 41 42
+f 38 42 39
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_35.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29436d2d49b99ca1d4898b2ec919ff7d405e3bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_35.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.03050082 0.01362042 0.01649222
+v 0.03050082 0.01296038 0.01634559
+v 0.03050082 0.01408106 0.01381839
+v 0.02995979 0.01699305 0.02627905
+v 0.03050082 0.01166728 0.01381838
+v 0.02988519 0.01699305 0.02676494
+v 0.02814425 0.01125550 0.02291660
+v 0.03023313 0.01448382 0.01381839
+v 0.02986889 0.01699308 0.01962177
+v 0.02993785 0.01699307 0.02140720
+v 0.02997421 0.01699306 0.02427511
+v 0.02882884 0.01125553 0.01381838
+v 0.02948710 0.01699305 0.02743196
+v 0.02684465 0.01125549 0.02442747
+v 0.02826273 0.01615386 0.01381840
+v 0.02913101 0.01699308 0.01770696
+v 0.02961248 0.01699308 0.01873049
+v 0.02409625 0.01125553 0.01381838
+v 0.02881630 0.01699305 0.02788478
+v 0.02409625 0.01565724 0.02792216
+v 0.02409625 0.01125549 0.02441884
+v 0.02449998 0.01699310 0.01381840
+v 0.02883761 0.01699309 0.01714775
+v 0.02409625 0.01699310 0.01381840
+v 0.02409625 0.01699305 0.02850293
+v 0.02409625 0.01685149 0.02848712
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 5 12
+f 3 12 18
+f 3 18 24
+f 3 24 22
+f 3 22 15
+f 3 15 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 9
+f 4 9 17
+f 4 17 16
+f 4 16 23
+f 4 23 22
+f 4 22 24
+f 4 24 25
+f 4 25 19
+f 4 19 13
+f 4 13 6
+f 5 7 12
+f 6 13 7
+f 7 13 14
+f 7 14 21
+f 7 21 18
+f 7 18 12
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 15 22 23
+f 15 23 16
+f 18 21 20
+f 18 20 26
+f 18 26 25
+f 18 25 24
+f 19 25 26
+f 19 26 20
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_36.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af8ae6f42f183d319d528e76951d98490138be28
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_36.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.02489362 -0.01811510 0.02925074
+v -0.02508884 -0.01704824 0.02927563
+v -0.02544055 -0.01736453 0.02969541
+v -0.02544055 -0.01758624 0.02969541
+v -0.02489362 -0.02030374 0.02829924
+v -0.02489362 -0.01704824 0.02906108
+v -0.02648795 -0.01704824 0.02958036
+v -0.02648795 -0.01735284 0.02970007
+v -0.02648795 -0.01759845 0.02970007
+v -0.02648795 -0.01857836 0.02929428
+v -0.03438834 -0.02224269 0.02465336
+v -0.02489362 -0.02107820 0.02677559
+v -0.03351138 -0.01756590 0.02969541
+v -0.03438834 -0.01965691 0.02802561
+v -0.03728417 -0.02224269 0.02451344
+v -0.02489362 -0.01704820 0.01818411
+v -0.03351138 -0.01730910 0.02969541
+v -0.03329137 -0.01730910 0.02969541
+v -0.03378407 -0.01704824 0.02952750
+v -0.03228270 -0.02224269 0.02448701
+v -0.02489362 -0.02119516 0.02643199
+v -0.03574871 -0.01704823 0.02820908
+v -0.03567279 -0.01846139 0.02809868
+v -0.03425819 -0.01831596 0.02900199
+v -0.03541404 -0.01947435 0.02778151
+v -0.03973532 -0.02177537 0.02432998
+v -0.03833931 -0.02201437 0.02461916
+v -0.03833931 -0.02224269 0.02401903
+v -0.02489362 -0.01906596 0.01381838
+v -0.02662740 -0.01704818 0.01381839
+v -0.03220059 -0.02224269 0.02446680
+v -0.02489362 -0.02224268 0.02058616
+v -0.04018774 -0.01704822 0.02474045
+v -0.04003125 -0.02042068 0.02467824
+v -0.04072229 -0.02042067 0.02291672
+v -0.03993209 -0.02196758 0.02291672
+v -0.03929994 -0.02224268 0.02291672
+v -0.02489362 -0.02224265 0.01381837
+v -0.03961601 -0.01704818 0.01381839
+v -0.04022338 -0.01704822 0.02463162
+v -0.03972447 -0.02178197 0.02150035
+v -0.04022648 -0.01704821 0.02309398
+v -0.03949981 -0.01774433 0.01381838
+v -0.03899935 -0.02224268 0.02224196
+v -0.03299853 -0.02224265 0.01381837
+v -0.03915739 -0.01801384 0.01381838
+v -0.03387239 -0.02196653 0.01381837
+v -0.03395141 -0.02224265 0.01470924
+v -0.03340137 -0.02214604 0.01381837
+v -0.03328362 -0.02224265 0.01396763
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 32
+f 1 32 38
+f 1 38 29
+f 1 29 16
+f 1 16 6
+f 1 6 2
+f 2 7 3
+f 2 6 16
+f 2 16 30
+f 2 30 39
+f 2 39 42
+f 2 42 40
+f 2 40 33
+f 2 33 22
+f 2 22 19
+f 2 19 7
+f 3 8 9
+f 3 9 4
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 11 12
+f 5 10 13
+f 5 13 14
+f 5 14 15
+f 5 15 11
+f 7 17 18
+f 7 18 8
+f 7 19 17
+f 8 18 17
+f 8 17 13
+f 8 13 9
+f 9 13 10
+f 11 15 28
+f 11 28 37
+f 11 37 44
+f 11 44 48
+f 11 48 50
+f 11 50 45
+f 11 45 38
+f 11 38 32
+f 11 32 31
+f 11 31 20
+f 11 20 12
+f 12 20 21
+f 13 17 19
+f 13 19 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 16 29 30
+f 20 31 21
+f 21 31 32
+f 22 33 34
+f 22 34 23
+f 23 34 26
+f 23 26 24
+f 24 26 25
+f 26 35 36
+f 26 36 37
+f 26 37 28
+f 26 28 27
+f 26 34 35
+f 29 38 45
+f 29 45 49
+f 29 49 47
+f 29 47 46
+f 29 46 43
+f 29 43 39
+f 29 39 30
+f 33 40 35
+f 33 35 34
+f 35 41 36
+f 35 40 42
+f 35 42 39
+f 35 39 43
+f 35 43 41
+f 36 41 44
+f 36 44 37
+f 41 43 46
+f 41 46 47
+f 41 47 48
+f 41 48 44
+f 45 50 49
+f 47 49 50
+f 47 50 48
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_37.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6815edf4c6b0de5a2b21f208c3ebd2461e19ed31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_37.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00383205 0.00649546 0.02203567
+v 0.00424379 0.00343949 0.02203566
+v 0.00344762 0.00343947 0.02677286
+v 0.00363496 0.00861947 0.02492855
+v 0.00516485 0.00861948 0.02306372
+v 0.00544976 0.00861948 0.02279817
+v 0.00683135 0.00861948 0.02203568
+v 0.02327386 0.00343949 0.02203566
+v 0.00348470 0.00343947 0.02702475
+v 0.00384180 0.00701364 0.02822017
+v 0.00365252 0.00701364 0.02677288
+v 0.00377155 0.00861947 0.02569019
+v 0.02338314 0.00861948 0.02203568
+v 0.02317044 0.00861945 0.02858647
+v 0.02263966 0.00343946 0.02888018
+v 0.00374814 0.00343947 0.02812366
+v 0.00405060 0.00808351 0.02787862
+v 0.00569173 0.00556602 0.02980663
+v 0.00569173 0.00647363 0.02980663
+v 0.00506924 0.00708158 0.02921662
+v 0.00600005 0.00861946 0.02840546
+v 0.02306116 0.00861945 0.02886227
+v 0.02238402 0.00861945 0.03009012
+v 0.02237622 0.00343946 0.02927979
+v 0.00397255 0.00343947 0.02831151
+v 0.00512387 0.00833552 0.02824578
+v 0.01105028 0.00701363 0.03023442
+v 0.00514339 0.00343946 0.02915512
+v 0.00696210 0.00343946 0.02947361
+v 0.00915742 0.00343946 0.02973916
+v 0.00940915 0.00343946 0.02975880
+v 0.01895151 0.00505441 0.03075782
+v 0.00943647 0.00861945 0.03000132
+v 0.02217717 0.00861945 0.03017892
+v 0.02092633 0.00505441 0.03033516
+v 0.02196252 0.00385270 0.02972038
+v 0.02181616 0.00343946 0.02967512
+v 0.02056141 0.00861945 0.03065366
+v 0.01896712 0.00343946 0.03028990
+v 0.02088339 0.00343946 0.03003460
+v 0.02092633 0.00861945 0.03066818
+v 0.02131661 0.00343946 0.02987578
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 8
+f 1 8 2
+f 2 8 15
+f 2 15 24
+f 2 24 37
+f 2 37 42
+f 2 42 40
+f 2 40 39
+f 2 39 31
+f 2 31 30
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+f 2 29 28
+f 2 28 25
+f 2 25 16
+f 2 16 9
+f 2 9 3
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+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 12
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+f 4 21 33
+f 4 33 38
+f 4 38 41
+f 4 41 34
+f 4 34 23
+f 4 23 22
+f 4 22 14
+f 4 14 13
+f 4 13 7
+f 4 7 6
+f 4 6 5
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+f 8 14 15
+f 9 16 10
+f 10 17 12
+f 10 16 18
+f 10 18 19
+f 10 19 20
+f 10 20 17
+f 12 17 21
+f 14 22 15
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+f 15 22 23
+f 16 25 18
+f 17 20 26
+f 17 26 21
+f 18 27 19
+f 18 25 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 27
+f 19 27 33
+f 19 33 20
+f 20 33 26
+f 21 26 33
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 27 32 38
+f 27 38 33
+f 31 39 32
+f 32 39 40
+f 32 40 35
+f 32 35 41
+f 32 41 38
+f 34 41 35
+f 35 40 36
+f 36 40 42
+f 36 42 37
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_38.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..491adb4204280e5a8fa37051807ad9bddd591dfc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_38.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.03792803 0.01635379 0.02644316
+v 0.03791131 0.01485227 0.02639973
+v 0.03787351 0.01504552 0.02494376
+v 0.03787641 0.01622516 0.02484390
+v 0.03742639 0.01699306 0.02484390
+v 0.03736896 0.01699305 0.02646776
+v 0.03738931 0.01692901 0.02696129
+v 0.03752599 0.01485227 0.02736363
+v 0.03776736 0.01381306 0.02596265
+v 0.03776736 0.01381307 0.02565293
+v 0.03669646 0.01125553 0.01381694
+v 0.03651617 0.01281940 0.01381695
+v 0.03736678 0.01699306 0.02469483
+v 0.03609813 0.01341877 0.01381695
+v 0.03733188 0.01699305 0.02695116
+v 0.03631260 0.01699305 0.02808439
+v 0.03638603 0.01681160 0.02813070
+v 0.03653798 0.01485227 0.02822477
+v 0.03614902 0.01358949 0.02798597
+v 0.03677716 0.01336592 0.02667182
+v 0.03610976 0.01125552 0.01701546
+v 0.03617229 0.01125552 0.01673758
+v 0.03071384 0.01125553 0.01381694
+v 0.03706216 0.01699306 0.02420420
+v 0.03575352 0.01388164 0.01421640
+v 0.03520462 0.01398725 0.01381695
+v 0.03495380 0.01699305 0.02831306
+v 0.03475606 0.01681160 0.02840280
+v 0.03475606 0.01485226 0.02860251
+v 0.03475606 0.01352433 0.02804965
+v 0.03475606 0.01283901 0.02677313
+v 0.03559213 0.01125551 0.01841210
+v 0.03050082 0.01166728 0.01381694
+v 0.03079163 0.01125553 0.01399062
+v 0.03325404 0.01342771 0.02677313
+v 0.03142341 0.01547973 0.02611752
+v 0.03646745 0.01699306 0.02331556
+v 0.03471680 0.01416026 0.01381695
+v 0.03475606 0.01699305 0.02831162
+v 0.03347869 0.01699305 0.02796571
+v 0.03342270 0.01681160 0.02800913
+v 0.03329184 0.01485227 0.02811333
+v 0.03355575 0.01369172 0.02790492
+v 0.03303157 0.01125551 0.01779121
+v 0.03471752 0.01125551 0.01906194
+v 0.03475606 0.01125551 0.01908365
+v 0.03477060 0.01125551 0.01907786
+v 0.03050082 0.01408106 0.01381695
+v 0.03050082 0.01296038 0.01634537
+v 0.03142341 0.01609764 0.02611752
+v 0.03050082 0.01362042 0.01649300
+v 0.03506068 0.01699307 0.02235021
+v 0.03309700 0.01417037 0.01381695
+v 0.03475606 0.01699307 0.02221995
+v 0.03275312 0.01699305 0.02697432
+v 0.03142341 0.01609765 0.02550097
+v 0.03264479 0.01699306 0.02485114
+v 0.03339290 0.01699306 0.02322872
+v 0.03266952 0.01699305 0.02676591
+v 0.03264843 0.01699306 0.02518980
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 13 24
+f 5 24 37
+f 5 37 52
+f 5 52 54
+f 5 54 58
+f 5 58 57
+f 5 57 60
+f 5 60 59
+f 5 59 55
+f 5 55 40
+f 5 40 39
+f 5 39 27
+f 5 27 16
+f 5 16 15
+f 5 15 6
+f 5 12 14
+f 5 14 13
+f 6 15 7
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+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
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+f 9 11 10
+f 11 22 21
+f 11 21 32
+f 11 32 47
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+f 11 26 14
+f 11 14 12
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+f 13 25 24
+f 14 26 25
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
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+f 20 32 21
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+f 23 35 36
+f 23 36 33
+f 24 25 37
+f 25 26 37
+f 26 38 37
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 29
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+f 29 42 43
+f 29 43 30
+f 30 43 31
+f 31 43 35
+f 31 35 44
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 32
+f 33 36 49
+f 33 49 51
+f 33 51 48
+f 34 44 35
+f 35 43 36
+f 36 43 42
+f 36 42 50
+f 36 50 51
+f 36 51 49
+f 37 38 52
+f 38 53 54
+f 38 54 52
+f 40 55 50
+f 40 50 41
+f 41 50 42
+f 48 51 50
+f 48 50 56
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+f 48 57 58
+f 48 58 54
+f 48 54 53
+f 50 55 59
+f 50 59 60
+f 50 60 57
+f 50 57 56
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_39.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1a255704446a8c24171d8d79a9168ac4959ee2f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_39.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00631550 0.02728380 0.02203404
+v 0.00631550 0.02633485 0.02123289
+v 0.00631550 0.02856215 0.02202710
+v 0.00458232 0.02430472 0.02685207
+v 0.00631550 0.02583771 0.02066360
+v 0.00631550 0.02960932 0.02198684
+v 0.00440426 0.02430472 0.02722974
+v 0.00496048 0.02430473 0.02484432
+v 0.00631550 0.02552796 0.02028038
+v 0.00631550 0.02979442 0.02175636
+v 0.00254040 0.02579312 0.02786427
+v 0.00385703 0.02519171 0.02756158
+v 0.00358260 0.02430472 0.02791009
+v 0.00631550 0.02430476 0.01698690
+v 0.00631550 0.03088315 0.01986246
+v 0.00117232 0.03183284 0.02057338
+v 0.00179143 0.02579312 0.02786427
+v 0.00114863 0.02459485 0.02800034
+v 0.00317830 0.02458351 0.02799479
+v 0.00314318 0.02430472 0.02798229
+v 0.00631550 0.02430477 0.01381699
+v 0.00631550 0.03113021 0.01915573
+v -0.00040894 0.03179809 0.02051228
+v 0.00117232 0.03202173 0.01906132
+v 0.00047480 0.02521060 0.02754770
+v 0.00022487 0.02430472 0.02771987
+v 0.00071411 0.02430472 0.02791426
+v 0.00087910 0.02430472 0.02794758
+v 0.00118212 0.02430472 0.02798924
+v 0.00289733 0.02430472 0.02798368
+v 0.00472689 0.02430477 0.01381699
+v 0.00631550 0.02729516 0.01381700
+v 0.00631550 0.03070031 0.01779224
+v 0.00117232 0.03169837 0.01785334
+v -0.00202696 0.03021601 0.02037898
+v -0.00202696 0.03015179 0.02050256
+v -0.00097741 0.03071314 0.02113848
+v -0.00059190 0.03187969 0.01906132
+v -0.00157937 0.03127225 0.01906131
+v -0.00025702 0.03171423 0.01783112
+v -0.00202696 0.02630915 0.02449999
+v -0.00202696 0.02465077 0.02486654
+v -0.00202696 0.02430473 0.02474157
+v 0.00117232 0.02480720 0.01381699
+v -0.00202696 0.02430474 0.02079967
+v 0.00631550 0.02747120 0.01399195
+v 0.00140265 0.02921496 0.01381701
+v 0.00631550 0.03045553 0.01721463
+v 0.00048297 0.02962219 0.01406832
+v -0.00202696 0.03046383 0.01906131
+v -0.00016473 0.02927314 0.01381701
+v -0.00049470 0.02894372 0.01381701
+v -0.00196161 0.02995612 0.01775891
+v -0.00202696 0.03009362 0.01828931
+v 0.00006152 0.02962219 0.01406832
+v -0.00043834 0.02508599 0.01381699
+v -0.00202696 0.02672774 0.01905297
+v -0.00134169 0.02715992 0.01381700
+v -0.00125103 0.02656230 0.01381700
+v -0.00061313 0.02533078 0.01381699
+v 0.00072146 0.02943557 0.01381701
+v 0.00045111 0.02943557 0.01381701
+v -0.00071850 0.02862489 0.01381701
+v -0.00202696 0.02878504 0.01802134
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 21
+f 1 21 32
+f 1 32 46
+f 1 46 48
+f 1 48 33
+f 1 33 22
+f 1 22 15
+f 1 15 10
+f 1 10 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 13
+f 4 13 20
+f 4 20 30
+f 4 30 29
+f 4 29 28
+f 4 28 27
+f 4 27 26
+f 4 26 43
+f 4 43 45
+f 4 45 31
+f 4 31 21
+f 4 21 14
+f 4 14 8
+f 4 8 9
+f 4 9 5
+f 4 6 7
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 10 15 16
+f 10 16 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 11 16 17
+f 12 19 13
+f 13 19 20
+f 15 22 16
+f 16 23 17
+f 16 22 24
+f 16 24 23
+f 17 25 18
+f 17 23 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 20
+f 21 31 44
+f 21 44 56
+f 21 56 60
+f 21 60 59
+f 21 59 58
+f 21 58 63
+f 21 63 52
+f 21 52 51
+f 21 51 62
+f 21 62 61
+f 21 61 47
+f 21 47 32
+f 22 33 34
+f 22 34 24
+f 23 35 36
+f 23 36 37
+f 23 37 25
+f 23 24 38
+f 23 38 39
+f 23 39 35
+f 24 34 40
+f 24 40 38
+f 25 41 26
+f 25 37 41
+f 26 41 42
+f 26 42 43
+f 31 45 44
+f 32 47 46
+f 33 48 34
+f 34 48 49
+f 34 49 40
+f 35 39 50
+f 35 50 54
+f 35 54 64
+f 35 64 57
+f 35 57 45
+f 35 45 43
+f 35 43 42
+f 35 42 41
+f 35 41 36
+f 36 41 37
+f 38 40 39
+f 39 40 51
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 50
+f 40 49 55
+f 40 55 51
+f 44 45 56
+f 45 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 56
+f 46 47 48
+f 47 61 48
+f 48 61 49
+f 49 61 62
+f 49 62 55
+f 51 55 62
+f 52 63 53
+f 53 64 54
+f 53 63 58
+f 53 58 64
+f 57 64 58
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_4.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a4d59627d2b40607835d340f8c46c807eeb6436
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_4.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00072103 0.02943632 0.01381701
+v 0.00117045 0.02829967 0.01142599
+v 0.00045001 0.02943632 0.01381701
+v 0.00140197 0.02921478 0.01381701
+v -0.00041888 0.02808190 0.01142599
+v 0.00228583 0.02784777 0.01142599
+v -0.00016556 0.02927268 0.01381701
+v 0.00221229 0.02869113 0.01381701
+v -0.00941687 0.02008246 0.01142596
+v 0.00233895 0.02781253 0.01142599
+v -0.00597265 0.02363972 0.01381699
+v 0.00255413 0.02830469 0.01381700
+v -0.00941687 0.01657681 0.01142595
+v -0.00941687 0.01948202 0.01381697
+v 0.00449618 0.02483681 0.01142598
+v 0.00449618 0.02097743 0.01381698
+v 0.00449618 0.02453218 0.01317313
+v 0.00449618 0.02481163 0.01177026
+v -0.00941687 0.01657680 0.01381696
+v 0.00449618 0.01657681 0.01142595
+v 0.00449618 0.01657680 0.01381696
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 14
+f 1 14 19
+f 1 19 21
+f 1 21 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 10
+f 2 10 15
+f 2 15 20
+f 2 20 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 7 9 11
+f 8 12 10
+f 9 13 19
+f 9 19 14
+f 9 14 11
+f 10 12 15
+f 12 16 17
+f 12 17 18
+f 12 18 15
+f 13 20 21
+f 13 21 19
+f 15 18 17
+f 15 17 16
+f 15 16 21
+f 15 21 20
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_40.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49aa39d8c7086dde87c3c59f93b032e37ac4850d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_40.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01746765 -0.01062689 0.02970119
+v -0.01086888 -0.01057822 0.02936223
+v -0.01746982 -0.01058043 0.02969963
+v -0.01771836 -0.01062689 0.02970119
+v -0.01749695 -0.01756249 0.02968873
+v -0.01072670 -0.01057822 0.02930937
+v -0.01243609 -0.01057822 0.02942909
+v -0.00937222 -0.01846512 0.02864231
+v -0.01771619 -0.01058043 0.02969963
+v -0.01870709 -0.01062689 0.02928605
+v -0.02045880 -0.01837663 0.02863920
+v -0.01768688 -0.01756249 0.02968873
+v -0.02045880 -0.02629670 0.02791461
+v -0.00937222 -0.01057822 0.02874185
+v -0.00937222 -0.01058043 0.02874962
+v -0.01249903 -0.01057822 0.02942909
+v -0.00937222 -0.02048937 0.02815252
+v -0.01260105 -0.01057822 0.02940888
+v -0.01382747 -0.01057822 0.02916477
+v -0.01866259 -0.01058043 0.02930159
+v -0.02000079 -0.01058042 0.02831582
+v -0.02000405 -0.01062688 0.02832204
+v -0.02045880 -0.01845627 0.02863609
+v -0.02042841 -0.01062688 0.02677030
+v -0.02045880 -0.01664216 0.02817431
+v -0.02045880 -0.02691836 0.02771248
+v -0.00937222 -0.01057816 0.01381841
+v -0.00937222 -0.02123050 0.02785243
+v -0.01382747 -0.01057816 0.01381841
+v -0.02041647 -0.01058042 0.02677030
+v -0.02040996 -0.01058042 0.02681539
+v -0.02045880 -0.01088346 0.01381686
+v -0.02045880 -0.01589219 0.02716055
+v -0.02045880 -0.02789841 0.02675936
+v -0.01265749 -0.03162393 0.02223628
+v -0.01127696 -0.03152216 0.02216787
+v -0.00937222 -0.02755549 0.02419075
+v -0.01382747 -0.01058037 0.01381686
+v -0.00937222 -0.02415070 0.01381836
+v -0.02006700 -0.01058037 0.01381686
+v -0.02039259 -0.01079718 0.01381686
+v -0.02045880 -0.02858639 0.01381679
+v -0.02045880 -0.03159959 0.02056949
+v -0.01266400 -0.03269911 0.02083225
+v -0.01162643 -0.03317917 0.02008437
+v -0.01079399 -0.03212833 0.02086802
+v -0.00937656 -0.03142702 0.02036580
+v -0.00937222 -0.03142038 0.02036425
+v -0.01382747 -0.02965494 0.01381679
+v -0.00937222 -0.03030758 0.01709285
+v -0.01023396 -0.02813287 0.01381835
+v -0.01985753 -0.02942928 0.01381679
+v -0.02045880 -0.03150666 0.01774277
+v -0.02045880 -0.03191152 0.01906284
+v -0.01200847 -0.03317917 0.02008437
+v -0.01162643 -0.03317917 0.01992733
+v -0.00937222 -0.03164604 0.01896799
+v -0.00937222 -0.03142481 0.02035647
+v -0.01047599 -0.02876116 0.01381834
+v -0.01116951 -0.02979874 0.01381834
+v -0.01263253 -0.03011510 0.01381834
+v -0.00937222 -0.03111066 0.01808329
+v -0.01858336 -0.03165267 0.01757018
+v -0.01858336 -0.03218806 0.01906284
+v -0.02045880 -0.03153321 0.01782051
+v -0.01200847 -0.03317917 0.01992733
+v -0.01266400 -0.03289157 0.01919500
+v -0.01163512 -0.03122348 0.01611486
+v -0.01117928 -0.03158408 0.01713327
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 12
+f 1 12 5
+f 1 5 2
+f 2 6 14
+f 2 14 27
+f 2 27 29
+f 2 29 19
+f 2 19 18
+f 2 18 16
+f 2 16 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
+f 3 7 16
+f 3 16 9
+f 4 10 11
+f 4 11 12
+f 4 9 10
+f 5 12 13
+f 5 13 8
+f 6 8 15
+f 6 15 14
+f 8 13 17
+f 8 17 28
+f 8 28 37
+f 8 37 48
+f 8 48 58
+f 8 58 57
+f 8 57 62
+f 8 62 50
+f 8 50 39
+f 8 39 27
+f 8 27 14
+f 8 14 15
+f 9 16 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 23 12
+f 11 22 24
+f 11 24 25
+f 11 25 33
+f 11 33 32
+f 11 32 42
+f 11 42 53
+f 11 53 65
+f 11 65 54
+f 11 54 43
+f 11 43 34
+f 11 34 26
+f 11 26 13
+f 11 13 23
+f 12 23 13
+f 13 26 17
+f 17 26 28
+f 19 29 30
+f 19 30 31
+f 19 31 21
+f 19 21 20
+f 21 31 24
+f 21 24 22
+f 24 32 33
+f 24 33 25
+f 24 31 30
+f 24 30 32
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 28
+f 27 38 40
+f 27 40 29
+f 27 39 49
+f 27 49 38
+f 29 40 30
+f 30 40 41
+f 30 41 32
+f 32 41 40
+f 32 40 38
+f 32 38 49
+f 32 49 52
+f 32 52 42
+f 34 43 44
+f 34 44 35
+f 35 44 45
+f 35 45 36
+f 36 45 46
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 39 50 51
+f 39 51 49
+f 42 52 53
+f 43 54 55
+f 43 55 44
+f 44 55 45
+f 45 55 66
+f 45 66 56
+f 45 56 57
+f 45 57 47
+f 45 47 46
+f 47 58 48
+f 47 57 58
+f 49 51 59
+f 49 59 60
+f 49 60 61
+f 49 61 52
+f 50 62 60
+f 50 60 59
+f 50 59 51
+f 52 61 63
+f 52 63 53
+f 53 63 64
+f 53 64 65
+f 54 65 64
+f 54 64 66
+f 54 66 55
+f 56 66 67
+f 56 67 68
+f 56 68 69
+f 56 69 57
+f 57 69 60
+f 57 60 62
+f 60 69 68
+f 60 68 61
+f 61 68 67
+f 61 67 63
+f 63 67 64
+f 64 67 66
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_41.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2351826e2bbf3ff32748e25d7855ba97ca53ab3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_41.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.03976240 -0.01650145 0.01381684
+v -0.04341590 -0.01382620 0.02184994
+v -0.04331747 -0.01382620 0.02161694
+v -0.03960993 -0.01481580 0.01381685
+v -0.03961572 -0.01704767 0.01381684
+v -0.04373242 -0.01599973 0.02518445
+v -0.04398525 -0.01471713 0.02466291
+v -0.04460865 -0.01454211 0.02677225
+v -0.04443495 -0.01382622 0.02677225
+v -0.04274040 -0.01382620 0.02063710
+v -0.03868352 -0.01382617 0.01381685
+v -0.04022753 -0.01704770 0.02309362
+v -0.04229071 -0.01703384 0.02677224
+v -0.04390226 -0.01618014 0.02677224
+v -0.02662676 -0.01704767 0.01381684
+v -0.04365715 -0.01592185 0.02812394
+v -0.04389068 -0.01454211 0.02837547
+v -0.04425159 -0.01382622 0.02725985
+v -0.02489362 -0.01382617 0.01381685
+v -0.04022367 -0.01704771 0.02463204
+v -0.04229071 -0.01619780 0.02840787
+v -0.04018700 -0.01704771 0.02474005
+v -0.03574798 -0.01704772 0.02820881
+v -0.03378516 -0.01704773 0.02952812
+v -0.02489362 -0.01537053 0.01381684
+v -0.02489362 -0.01643113 0.01531822
+v -0.02489362 -0.01704769 0.01818365
+v -0.04229071 -0.01454212 0.02920563
+v -0.04379418 -0.01382622 0.02827672
+v -0.02489362 -0.01382620 0.02261992
+v -0.02648780 -0.01704773 0.02957904
+v -0.02489362 -0.01704773 0.02906057
+v -0.04156888 -0.01382623 0.02907138
+v -0.04229071 -0.01382623 0.02905132
+v -0.02648780 -0.01459761 0.02677225
+v -0.02507890 -0.01521321 0.02815789
+v -0.02489362 -0.01508801 0.02708856
+v -0.04031438 -0.01382623 0.02884147
+v -0.02508855 -0.01704773 0.02927506
+v -0.02648780 -0.01637284 0.02931518
+v -0.02489362 -0.01687301 0.02904360
+v -0.02648780 -0.01506877 0.02835077
+v -0.02489362 -0.01574966 0.02836466
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 25
+f 1 25 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 18
+f 2 18 29
+f 2 29 34
+f 2 34 33
+f 2 33 38
+f 2 38 30
+f 2 30 19
+f 2 19 11
+f 2 11 10
+f 2 10 3
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 15 27
+f 5 27 32
+f 5 32 39
+f 5 39 31
+f 5 31 24
+f 5 24 23
+f 5 23 22
+f 5 22 20
+f 5 20 12
+f 6 14 8
+f 6 8 7
+f 8 14 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 12 20 13
+f 13 21 16
+f 13 16 14
+f 13 20 22
+f 13 22 23
+f 13 23 24
+f 13 24 21
+f 15 25 26
+f 15 26 27
+f 16 21 28
+f 16 28 17
+f 17 29 18
+f 17 28 29
+f 19 30 37
+f 19 37 43
+f 19 43 41
+f 19 41 32
+f 19 32 27
+f 19 27 26
+f 19 26 25
+f 21 24 28
+f 24 31 28
+f 28 33 34
+f 28 34 29
+f 28 31 33
+f 30 35 36
+f 30 36 37
+f 30 38 35
+f 31 39 40
+f 31 40 33
+f 32 41 39
+f 33 40 42
+f 33 42 38
+f 35 42 36
+f 35 38 42
+f 36 39 43
+f 36 43 37
+f 36 42 40
+f 36 40 39
+f 39 41 43
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_42.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374aa986ef736e23c79c0fc9c9fc645e28e1e65c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_42.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.02409625 0.00826984 0.02025014
+v 0.02409625 0.00843278 0.02092814
+v 0.02409625 0.01125495 0.02025015
+v 0.02797559 0.00343950 0.02025012
+v 0.02409625 0.00925900 0.02294938
+v 0.02409625 0.01125493 0.02441921
+v 0.02760017 0.01125495 0.02025015
+v 0.02858589 0.00343949 0.02111945
+v 0.02934058 0.00578426 0.02833511
+v 0.02861670 0.00680019 0.02896700
+v 0.02761365 0.00753080 0.02831255
+v 0.03294655 0.00343950 0.02025012
+v 0.02409625 0.01102236 0.02442216
+v 0.02684548 0.01125493 0.02442804
+v 0.02806608 0.00897285 0.02938205
+v 0.02940797 0.01022595 0.02987363
+v 0.02878227 0.01057021 0.02870798
+v 0.03080569 0.01102081 0.02870111
+v 0.03080569 0.01124497 0.02677308
+v 0.02778692 0.01125494 0.02098898
+v 0.03475626 0.01098945 0.02677308
+v 0.04194316 0.01011122 0.02541316
+v 0.04061860 0.00829585 0.02025014
+v 0.02878034 0.00343949 0.02138143
+v 0.02920967 0.00737472 0.02998940
+v 0.03048610 0.00343949 0.02181413
+v 0.04068213 0.00449596 0.02677306
+v 0.03080569 0.00574907 0.02843519
+v 0.03080569 0.00625014 0.02939970
+v 0.04030671 0.00391917 0.02025012
+v 0.03284836 0.00343949 0.02050327
+v 0.02814501 0.01125494 0.02291800
+v 0.02905372 0.00897285 0.03006495
+v 0.03080569 0.00897285 0.03027297
+v 0.03080569 0.01023284 0.02988148
+v 0.04168518 0.00996127 0.02774642
+v 0.03673155 0.01076301 0.02677308
+v 0.04188540 0.01007755 0.02677308
+v 0.04375288 0.00820249 0.02624716
+v 0.04375288 0.00820250 0.02553776
+v 0.04170828 0.00803039 0.02025014
+v 0.04143297 0.00810536 0.02025014
+v 0.03080569 0.00723014 0.03005612
+v 0.03081916 0.00343949 0.02180432
+v 0.04061282 0.00400638 0.02025012
+v 0.04124045 0.00419687 0.02025013
+v 0.04275753 0.00534820 0.02669849
+v 0.04216648 0.00559224 0.02809374
+v 0.04068213 0.00539945 0.02825858
+v 0.03245176 0.00343949 0.02094480
+v 0.03606735 0.00762565 0.02976569
+v 0.03606735 0.00835548 0.02976569
+v 0.03193772 0.01005382 0.02974412
+v 0.04212028 0.00897286 0.02806137
+v 0.04298471 0.00890248 0.02684274
+v 0.04376443 0.00701441 0.02628444
+v 0.04346986 0.00701441 0.02724895
+v 0.04376443 0.00701442 0.02550145
+v 0.04216263 0.00703127 0.02025014
+v 0.04178529 0.00460539 0.02025013
+v 0.04369704 0.00595487 0.02566923
+v 0.04369704 0.00595486 0.02600577
+v 0.04248222 0.00701441 0.02832138
+v 0.04068213 0.00701440 0.02887575
+v 0.04209525 0.00511490 0.02025013
+f 1 2 5
+f 1 5 13
+f 1 13 6
+f 1 6 3
+f 1 3 7
+f 1 7 23
+f 1 23 42
+f 1 42 41
+f 1 41 59
+f 1 59 65
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+f 1 60 46
+f 1 46 45
+f 1 45 30
+f 1 30 12
+f 1 12 4
+f 1 4 2
+f 2 4 5
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+f 3 32 20
+f 3 20 7
+f 4 8 9
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+f 9 27 28
+f 9 28 29
+f 9 29 25
+f 10 25 11
+f 11 25 15
+f 11 15 13
+f 12 30 31
+f 14 19 32
+f 15 25 33
+f 15 33 16
+f 16 33 34
+f 16 34 35
+f 16 35 18
+f 16 18 17
+f 18 35 36
+f 18 36 37
+f 18 37 21
+f 18 21 19
+f 19 20 32
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 23
+f 25 29 43
+f 25 43 34
+f 25 34 33
+f 26 44 27
+f 27 30 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 29
+f 27 29 28
+f 27 44 50
+f 27 50 30
+f 29 49 43
+f 30 50 31
+f 34 43 51
+f 34 51 52
+f 34 52 35
+f 35 52 53
+f 35 53 36
+f 36 52 54
+f 36 54 55
+f 36 55 38
+f 36 38 37
+f 36 53 52
+f 38 55 39
+f 39 56 58
+f 39 58 40
+f 39 55 54
+f 39 54 57
+f 39 57 56
+f 40 58 59
+f 40 59 41
+f 43 49 51
+f 46 60 61
+f 46 61 62
+f 46 62 47
+f 47 62 48
+f 48 62 57
+f 48 57 63
+f 48 63 64
+f 48 64 49
+f 49 64 51
+f 51 64 52
+f 52 64 54
+f 54 64 63
+f 54 63 57
+f 56 57 62
+f 56 62 61
+f 56 61 58
+f 58 61 65
+f 58 65 59
+f 60 65 61
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_43.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd853562d16c61190e9ef01f069e7af8421d6130
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_43.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03577739 0.02571228 0.02022802
+v 0.03577739 0.02543186 0.02022802
+v 0.03577739 0.02571228 0.01994333
+v 0.03408350 0.02780392 0.02098813
+v 0.03514925 0.02646348 0.02091786
+v 0.03427490 0.02660973 0.02235866
+v 0.03448248 0.02465104 0.02253293
+v 0.03545299 0.02472779 0.02091785
+v 0.03577739 0.02543186 0.01994333
+v 0.03416527 0.02189765 0.01520485
+v 0.03475386 0.02656018 0.01912303
+v 0.03407721 0.02780151 0.01958930
+v 0.03424345 0.02278666 0.01381698
+v 0.03396757 0.02393612 0.01381699
+v 0.03278050 0.02803538 0.02098813
+v 0.03387951 0.02766371 0.02204112
+v 0.03278050 0.02660973 0.02278843
+v 0.03278050 0.02465104 0.02313790
+v 0.03415628 0.02333839 0.02227288
+v 0.03446271 0.02308578 0.02098811
+v 0.03410237 0.02189766 0.01381698
+v 0.03396757 0.02189765 0.01661188
+v 0.03388580 0.02399293 0.01381699
+v 0.03288294 0.02449635 0.01381699
+v 0.03278050 0.02735732 0.01837845
+v 0.03278050 0.02791392 0.01934202
+v 0.02659802 0.02791028 0.02096714
+v 0.03278050 0.02771145 0.02209769
+v 0.02659802 0.02807165 0.01907193
+v 0.03165454 0.02767821 0.02205663
+v 0.02659802 0.02659704 0.02180388
+v 0.03132564 0.02330878 0.02229113
+v 0.03278050 0.02314984 0.02244716
+v 0.02659802 0.02573765 0.02168707
+v 0.03278050 0.02246330 0.02098811
+v 0.03029673 0.02189766 0.01381698
+v 0.03278050 0.02189765 0.01767583
+v 0.03113963 0.02428000 0.01381699
+v 0.02659802 0.02742802 0.01827078
+v 0.02659802 0.02486256 0.02115875
+v 0.02659802 0.02453077 0.02072532
+v 0.03120163 0.02189765 0.01692669
+v 0.03273198 0.02189765 0.01767309
+v 0.02659802 0.02443167 0.01883742
+v 0.02659802 0.02455193 0.01831092
+v 0.02659802 0.02660250 0.01751617
+v 0.03014217 0.02262469 0.01381698
+v 0.03032009 0.02189766 0.01456338
+v 0.02659802 0.02437970 0.01930460
+v 0.02659802 0.02437970 0.01911663
+v 0.03033716 0.02308279 0.01381698
+v 0.03095811 0.02189765 0.01638285
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 9
+f 3 11 12
+f 3 12 4
+f 3 9 13
+f 3 13 14
+f 3 14 11
+f 4 12 15
+f 4 15 16
+f 4 16 5
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 10
+f 9 10 21
+f 9 21 13
+f 10 22 37
+f 10 37 43
+f 10 43 42
+f 10 42 52
+f 10 52 48
+f 10 48 36
+f 10 36 21
+f 10 20 22
+f 11 14 12
+f 12 14 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 15
+f 13 21 36
+f 13 36 47
+f 13 47 51
+f 13 51 38
+f 13 38 24
+f 13 24 23
+f 13 23 14
+f 15 27 28
+f 15 28 16
+f 15 26 29
+f 15 29 27
+f 16 28 17
+f 17 28 30
+f 17 30 31
+f 17 31 18
+f 18 32 33
+f 18 33 19
+f 18 31 34
+f 18 34 32
+f 19 33 35
+f 19 35 20
+f 20 35 22
+f 22 35 37
+f 24 38 39
+f 24 39 29
+f 24 29 25
+f 25 29 26
+f 27 31 30
+f 27 30 28
+f 27 29 39
+f 27 39 46
+f 27 46 45
+f 27 45 44
+f 27 44 50
+f 27 50 49
+f 27 49 41
+f 27 41 40
+f 27 40 34
+f 27 34 31
+f 32 34 40
+f 32 40 41
+f 32 41 42
+f 32 42 35
+f 32 35 33
+f 35 42 43
+f 35 43 37
+f 36 44 45
+f 36 45 46
+f 36 46 47
+f 36 48 49
+f 36 49 50
+f 36 50 44
+f 38 51 46
+f 38 46 39
+f 41 49 48
+f 41 48 52
+f 41 52 42
+f 46 51 47
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_44.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c72189f628795b15725ea0e128c891a67357e33
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_44.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02443930 0.01105548 0.02092861
+v -0.02451582 0.01104973 0.02092861
+v -0.02239848 0.01055091 0.02092861
+v -0.02253622 0.01285026 0.01869752
+v -0.02579674 0.01034318 0.02092861
+v -0.02793871 0.01285027 0.01538742
+v -0.02212566 0.01019368 0.02092861
+v -0.02114151 0.01285026 0.01812530
+v -0.02580739 0.01031731 0.02092861
+v -0.02793871 0.01285028 0.01381695
+v -0.02793871 0.00550804 0.01508109
+v -0.02615673 0.00890420 0.02092860
+v -0.02615274 0.00897896 0.02092860
+v -0.02153344 0.00922981 0.02092860
+v -0.02114151 0.01285028 0.01381695
+v -0.02145093 0.00908246 0.02092860
+v -0.02114151 0.00900772 0.01991434
+v -0.02793871 0.00550805 0.01381692
+v -0.02609884 0.00550803 0.01917852
+v -0.02586195 0.00741851 0.02092860
+v -0.02114151 0.00550805 0.01381692
+v -0.02148553 0.00889989 0.02092860
+v -0.02114151 0.00550803 0.01941242
+v -0.02540215 0.00550803 0.02020183
+v -0.02471079 0.00662642 0.02092859
+v -0.02456440 0.00550802 0.02092023
+v -0.02246369 0.00719281 0.02092860
+v -0.02261740 0.00550802 0.02091606
+v -0.02456506 0.00652723 0.02092859
+v -0.02455841 0.00652723 0.02092859
+v -0.02252690 0.00710584 0.02092860
+f 1 2 5
+f 1 5 9
+f 1 9 13
+f 1 13 12
+f 1 12 20
+f 1 20 25
+f 1 25 29
+f 1 29 30
+f 1 30 31
+f 1 31 27
+f 1 27 22
+f 1 22 16
+f 1 16 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 8 15
+f 4 15 10
+f 4 10 6
+f 5 6 9
+f 6 10 18
+f 6 18 11
+f 6 11 12
+f 6 12 13
+f 6 13 9
+f 7 14 8
+f 8 14 16
+f 8 16 17
+f 8 17 23
+f 8 23 21
+f 8 21 15
+f 10 15 21
+f 10 21 18
+f 11 18 21
+f 11 21 23
+f 11 23 28
+f 11 28 26
+f 11 26 24
+f 11 24 19
+f 11 19 20
+f 11 20 12
+f 16 22 23
+f 16 23 17
+f 19 24 20
+f 20 24 26
+f 20 26 25
+f 22 27 28
+f 22 28 23
+f 25 26 29
+f 26 28 30
+f 26 30 29
+f 27 31 28
+f 28 31 30
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_45.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea8098bea81b270a0ee61d3c286e0613fcbbd0e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_45.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.02251681 -0.00282772 0.01602281
+v -0.02251681 -0.00629934 0.01602280
+v -0.02251681 -0.00282771 0.01381689
+v -0.03798103 -0.00282772 0.01602281
+v -0.02531884 -0.01057817 0.01601976
+v -0.02445140 -0.01057817 0.01599082
+v -0.02263330 -0.01057816 0.01397297
+v -0.02253345 -0.01057816 0.01385702
+v -0.02251681 -0.01057816 0.01381686
+v -0.03127862 -0.01057817 0.01602278
+v -0.04150905 -0.00282771 0.01381689
+v -0.03875486 -0.00282772 0.01571727
+v -0.03900033 -0.00296731 0.01602281
+v -0.04313993 -0.01057816 0.01381686
+v -0.04306920 -0.01057817 0.01602278
+v -0.04196877 -0.00309324 0.01381689
+v -0.04022556 -0.00330643 0.01602281
+v -0.04040238 -0.00282771 0.01470738
+v -0.04351228 -0.01014876 0.01381686
+v -0.04309832 -0.01053114 0.01602278
+v -0.04376607 -0.00906767 0.01381687
+v -0.04151737 -0.00483892 0.01602280
+v -0.04125734 -0.00406509 0.01602281
+v -0.04117622 -0.00394295 0.01602281
+v -0.04263652 -0.00876119 0.01602279
+f 1 2 9
+f 1 9 3
+f 1 3 11
+f 1 11 18
+f 1 18 12
+f 1 12 4
+f 1 4 13
+f 1 13 17
+f 1 17 24
+f 1 24 23
+f 1 23 22
+f 1 22 25
+f 1 25 20
+f 1 20 15
+f 1 15 10
+f 1 10 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 10 5
+f 3 9 14
+f 3 14 19
+f 3 19 21
+f 3 21 16
+f 3 16 11
+f 4 12 13
+f 5 10 15
+f 5 15 14
+f 5 14 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 11 16 17
+f 11 17 18
+f 12 18 13
+f 13 18 17
+f 14 15 19
+f 15 20 19
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 19 20 21
+f 20 25 21
+f 21 25 22
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_46.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58986ff4344ea82339aae12da4489555b8a0835a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_46.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.01644215 -0.01057816 0.01381686
+v -0.01644215 -0.00282771 0.01381689
+v -0.01007386 -0.01057816 0.01381686
+v -0.01644215 -0.01057819 0.02268980
+v -0.01007386 -0.00282771 0.01381689
+v -0.01644215 -0.00282773 0.01878664
+v -0.01007386 -0.01057819 0.02268980
+v -0.01644215 -0.00698139 0.02268981
+v -0.01007386 -0.00282772 0.01538286
+v -0.01410952 -0.00327080 0.02268983
+v -0.01394184 -0.00321010 0.02268983
+v -0.01346621 -0.00282774 0.02198111
+v -0.01007386 -0.00670904 0.02268982
+v -0.01023718 -0.00282774 0.02268983
+v -0.01329541 -0.00305079 0.02268983
+v -0.01266082 -0.00289450 0.02268983
+v -0.01266332 -0.00282774 0.02250917
+v -0.01205429 -0.00282774 0.02268983
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 18
+f 2 18 14
+f 2 14 9
+f 2 9 5
+f 3 5 9
+f 3 9 13
+f 3 13 7
+f 4 7 13
+f 4 13 14
+f 4 14 18
+f 4 18 16
+f 4 16 15
+f 4 15 11
+f 4 11 10
+f 4 10 8
+f 6 8 10
+f 6 10 11
+f 6 11 12
+f 9 14 13
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 16 18 17
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_47.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ce03f1fb2f2f2a99d52a4f252713111164b0506
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_47.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.03475197 -0.00506613 0.02283877
+v 0.03323740 -0.00526314 0.02283877
+v 0.03365160 -0.00566585 0.02783201
+v 0.03409340 -0.00566585 0.02783201
+v 0.03931499 -0.00555946 0.02677300
+v 0.04055618 -0.00555946 0.02670939
+v 0.04068320 -0.00553660 0.02522272
+v 0.04048715 -0.00574542 0.02283877
+v 0.03316975 -0.00528127 0.02283877
+v 0.03364607 -0.00758550 0.02972062
+v 0.02882763 -0.00813947 0.02677299
+v 0.02882763 -0.00897874 0.02872048
+v 0.03423699 -0.00758550 0.02972062
+v 0.03981201 -0.00570052 0.02776705
+v 0.04112915 -0.00589516 0.02730961
+v 0.04174629 -0.00566979 0.02602527
+v 0.04174629 -0.00566978 0.02565986
+v 0.04091515 -0.00596212 0.02283877
+v 0.02941441 -0.00745072 0.02283876
+v 0.03353148 -0.00866352 0.02975039
+v 0.02977890 -0.00961704 0.02967933
+v 0.02968777 -0.01062257 0.02971181
+v 0.02935780 -0.00748539 0.02283876
+v 0.02882763 -0.00781636 0.02283876
+v 0.02882763 -0.01050279 0.02928956
+v 0.03443442 -0.00866352 0.02975039
+v 0.03542158 -0.00866352 0.02960085
+v 0.04068320 -0.00866352 0.02879559
+v 0.04055618 -0.00661069 0.02820215
+v 0.04202242 -0.00720172 0.02806342
+v 0.04225161 -0.00661069 0.02670939
+v 0.04220743 -0.00667373 0.02494799
+v 0.04202519 -0.00700548 0.02283876
+v 0.02968363 -0.01169823 0.02971317
+v 0.02882763 -0.01062257 0.02929836
+v 0.02882763 -0.01311587 0.02283874
+v 0.03418728 -0.00975101 0.02972332
+v 0.03003293 -0.01169823 0.02971317
+v 0.04196720 -0.00998741 0.02800928
+v 0.04215773 -0.00866351 0.02818590
+v 0.03475749 -0.01311590 0.02882535
+v 0.04293227 -0.00866351 0.02677299
+v 0.04278316 -0.00866350 0.02484512
+v 0.04205694 -0.00865089 0.02283876
+v 0.02923492 -0.01311589 0.02827723
+v 0.03007435 -0.01311589 0.02838347
+v 0.02882763 -0.01253591 0.02864197
+v 0.02882763 -0.01311589 0.02803431
+v 0.03703831 -0.01311587 0.02283874
+v 0.04226127 -0.01031365 0.02677298
+v 0.03659788 -0.01311589 0.02832190
+v 0.03727164 -0.01311589 0.02799167
+v 0.04216877 -0.01020095 0.02484511
+v 0.04205694 -0.00870211 0.02283876
+v 0.04156543 -0.00960598 0.02283875
+v 0.04184294 -0.00983767 0.02353709
+v 0.03768445 -0.01311588 0.02517194
+v 0.03998045 -0.01168797 0.02565104
+v 0.03777419 -0.01311589 0.02677297
+v 0.03772449 -0.01311588 0.02560028
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 18
+f 1 18 33
+f 1 33 44
+f 1 44 54
+f 1 54 55
+f 1 55 49
+f 1 49 36
+f 1 36 24
+f 1 24 23
+f 1 23 19
+f 1 19 9
+f 1 9 2
+f 2 9 3
+f 3 10 13
+f 3 13 4
+f 3 9 11
+f 3 11 12
+f 3 12 10
+f 4 13 14
+f 4 14 6
+f 4 6 5
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 9 19 11
+f 10 20 26
+f 10 26 13
+f 10 12 21
+f 10 21 22
+f 10 22 20
+f 11 19 23
+f 11 23 24
+f 11 24 36
+f 11 36 48
+f 11 48 47
+f 11 47 35
+f 11 35 25
+f 11 25 12
+f 12 25 21
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 14 30 15
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 31 32
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+f 17 33 18
+f 20 22 34
+f 20 34 38
+f 20 38 26
+f 21 25 22
+f 22 25 35
+f 22 35 34
+f 26 37 27
+f 26 38 37
+f 27 37 28
+f 28 39 40
+f 28 40 30
+f 28 30 29
+f 28 37 41
+f 28 41 39
+f 30 40 42
+f 30 42 31
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 34 45 46
+f 34 46 41
+f 34 41 38
+f 34 35 47
+f 34 47 45
+f 36 49 57
+f 36 57 60
+f 36 60 59
+f 36 59 52
+f 36 52 51
+f 36 51 41
+f 36 41 46
+f 36 46 45
+f 36 45 48
+f 37 38 41
+f 39 50 42
+f 39 42 40
+f 39 41 51
+f 39 51 52
+f 39 52 50
+f 42 50 53
+f 42 53 43
+f 43 53 54
+f 43 54 44
+f 45 47 48
+f 49 55 56
+f 49 56 53
+f 49 53 57
+f 50 58 53
+f 50 52 59
+f 50 59 60
+f 50 60 57
+f 50 57 58
+f 53 56 54
+f 53 58 57
+f 54 56 55
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_48.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda3e2ad21dcd81b26500e3a3e71910e46109f05
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_48.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.02114151 0.00343946 0.02880533
+v -0.02114151 0.00444099 0.02834905
+v -0.02177299 0.00434282 0.02806002
+v -0.02191672 0.00343947 0.02826688
+v -0.02114151 0.00343952 0.01381837
+v -0.02114151 0.00479925 0.02738953
+v -0.02540215 0.00550731 0.02020343
+v -0.02793871 0.00343949 0.02146223
+v -0.02793871 0.00343952 0.01381837
+v -0.02114151 0.00550733 0.01381838
+v -0.02114151 0.00487131 0.02677186
+v -0.02456440 0.00550730 0.02092233
+v -0.02609884 0.00550731 0.01917936
+v -0.02793871 0.00550732 0.01508160
+v -0.02793871 0.00550733 0.01381838
+v -0.02114151 0.00550731 0.01941410
+v -0.02261740 0.00550730 0.02091646
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 10
+f 1 10 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 5 9 15
+f 5 15 10
+f 6 11 12
+f 6 12 7
+f 7 12 17
+f 7 17 16
+f 7 16 10
+f 7 10 15
+f 7 15 14
+f 7 14 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 11 17 12
+f 11 16 17
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_49.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..078d01c67a84f076395d240876913c2eb540e6d7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_49.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01893855 0.00343946 0.03028301
+v 0.01780138 0.00343946 0.03002251
+v 0.01375347 0.00050726 0.02986051
+v 0.01500093 -0.00082449 0.03029248
+v 0.01672107 -0.00082449 0.03003856
+v 0.01639225 -0.00210170 0.02987875
+v 0.01893855 0.00296970 0.03014218
+v 0.01893855 0.00343949 0.02283812
+v 0.01743078 0.00343946 0.02977588
+v 0.01314653 0.00099148 0.02851864
+v 0.01195798 0.00016957 0.02775467
+v 0.01367812 -0.00082449 0.02991816
+v 0.01385691 0.00233176 0.02799766
+v 0.01382677 -0.00199790 0.02980724
+v 0.01500093 -0.00217266 0.02993201
+v 0.01893855 -0.00082449 0.02878132
+v 0.01500093 -0.00327248 0.02897322
+v 0.01667655 -0.00327248 0.02879810
+v 0.01707593 -0.00327248 0.02874702
+v 0.01893855 -0.00224098 0.02809542
+v 0.01893855 0.00106705 0.02283811
+v 0.01194085 0.00343949 0.02283812
+v 0.01194085 0.00343948 0.02326206
+v 0.01195798 0.00008350 0.02775467
+v 0.01262247 -0.00067140 0.02851864
+v 0.01323627 -0.00327247 0.02855511
+v 0.01479611 -0.00327248 0.02892506
+v 0.01707661 -0.00327247 0.02676887
+v 0.01893855 -0.00224361 0.02808228
+v 0.01698961 -0.00327245 0.02283810
+v 0.01893855 -0.00220550 0.02693669
+v 0.01194085 0.00329627 0.02283812
+v 0.01194085 0.00342240 0.02321318
+v 0.01194085 0.00329758 0.02284761
+v 0.01195798 0.00008350 0.02771308
+v 0.01292457 -0.00327245 0.02283810
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 20
+f 1 20 29
+f 1 29 31
+f 1 31 21
+f 1 21 8
+f 1 8 22
+f 1 22 23
+f 1 23 9
+f 1 9 2
+f 2 9 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 9 13
+f 3 13 10
+f 4 12 14
+f 4 14 15
+f 4 15 6
+f 4 6 5
+f 6 16 7
+f 6 15 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 16
+f 8 21 30
+f 8 30 36
+f 8 36 32
+f 8 32 22
+f 9 23 13
+f 10 13 11
+f 11 24 12
+f 11 13 23
+f 11 23 24
+f 12 24 25
+f 12 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 17
+f 17 27 26
+f 17 26 36
+f 17 36 30
+f 17 30 28
+f 17 28 19
+f 17 19 18
+f 19 28 29
+f 19 29 20
+f 21 31 30
+f 22 32 34
+f 22 34 33
+f 22 33 23
+f 23 33 24
+f 24 26 25
+f 24 33 34
+f 24 34 32
+f 24 32 35
+f 24 35 36
+f 24 36 26
+f 28 30 29
+f 29 30 31
+f 32 36 35
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_5.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..915ae8bb0278a81fa1c29ddf74a7d0112f58a134
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_5.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00449618 0.01657839 0.01142595
+v 0.01828182 0.01657839 0.01142595
+v 0.00449618 0.01657838 0.01381696
+v 0.00449618 0.02483677 0.01142598
+v 0.01828182 0.01657838 0.01381696
+v 0.01828182 0.02193834 0.01142597
+v 0.00449618 0.02097747 0.01381698
+v 0.00449618 0.02481144 0.01177026
+v 0.00466081 0.02518659 0.01381699
+v 0.00543807 0.02659702 0.01381700
+v 0.00560945 0.02687879 0.01381700
+v 0.00939996 0.03214060 0.01381702
+v 0.00981828 0.03170846 0.01186180
+v 0.00942829 0.03094388 0.01142600
+v 0.01828182 0.02195258 0.01381698
+v 0.01821704 0.02676008 0.01142599
+v 0.01827777 0.02855358 0.01381700
+v 0.00449618 0.02453441 0.01317313
+v 0.00449618 0.02478928 0.01188354
+v 0.01105029 0.03274688 0.01381702
+v 0.01031621 0.03154541 0.01142601
+v 0.01817386 0.02731887 0.01142599
+v 0.01812933 0.02788241 0.01169608
+v 0.01821569 0.02854883 0.01340133
+v 0.01809964 0.02915511 0.01381701
+v 0.01183161 0.03246036 0.01381702
+v 0.01218380 0.03164672 0.01201019
+v 0.01105029 0.03161031 0.01142601
+v 0.01763275 0.02812619 0.01142599
+v 0.01713346 0.02850610 0.01142599
+v 0.01728730 0.02976455 0.01381701
+v 0.01259672 0.03209786 0.01381702
+v 0.01697558 0.02993235 0.01381701
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 18
+f 1 18 19
+f 1 19 8
+f 1 8 4
+f 1 4 14
+f 1 14 21
+f 1 21 28
+f 1 28 30
+f 1 30 29
+f 1 29 22
+f 1 22 16
+f 1 16 6
+f 1 6 2
+f 2 6 15
+f 2 15 5
+f 3 5 15
+f 3 15 17
+f 3 17 25
+f 3 25 31
+f 3 31 33
+f 3 33 32
+f 3 32 26
+f 3 26 20
+f 3 20 12
+f 3 12 11
+f 3 11 10
+f 3 10 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 6 16 17
+f 6 17 15
+f 7 9 18
+f 8 19 9
+f 9 19 18
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 22 29 23
+f 23 29 25
+f 23 25 24
+f 25 29 30
+f 25 30 31
+f 26 32 27
+f 27 32 33
+f 27 33 31
+f 27 31 30
+f 27 30 28
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_50.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae99f4c26e3f2cd95227c17a8d30e7da9e94afdb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_50.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02441069 0.02121879 0.02269965
+v -0.02648678 0.02112823 0.02269965
+v -0.02427029 0.02116177 0.02269965
+v -0.02253622 0.02660887 0.02261881
+v -0.02652937 0.02111314 0.02269965
+v -0.02114151 0.01970944 0.02269964
+v -0.02126794 0.02789685 0.02213363
+v -0.02253622 0.02820040 0.02231536
+v -0.02415650 0.02809810 0.02225536
+v -0.02793871 0.02631706 0.02236144
+v -0.02793871 0.02500727 0.02244316
+v -0.02784422 0.02053287 0.02269965
+v -0.02114151 0.01511764 0.02269963
+v -0.02114151 0.02683360 0.02209103
+v -0.02121271 0.02660887 0.02219102
+v -0.02114151 0.02801928 0.02198234
+v -0.02114151 0.02971311 0.02070856
+v -0.02253622 0.02918148 0.02137632
+v -0.02386505 0.02970137 0.02043467
+v -0.02793871 0.02658707 0.02217885
+v -0.02793871 0.02035343 0.02269964
+v -0.02253622 0.01477216 0.02269962
+v -0.02115283 0.01365189 0.02055808
+v -0.02114151 0.01366530 0.02056851
+v -0.02114151 0.02986405 0.02042510
+v -0.02114151 0.02998313 0.01951475
+v -0.02386505 0.02970138 0.01946432
+v -0.02793871 0.02722770 0.02098852
+v -0.02793871 0.01631171 0.02269963
+v -0.02253622 0.01364853 0.02049113
+v -0.02253622 0.01285194 0.01869737
+v -0.02114151 0.01285194 0.01812612
+v -0.02114151 0.01364686 0.02052851
+v -0.02114151 0.01365524 0.02054851
+v -0.02114151 0.02998313 0.01926260
+v -0.02451849 0.02904900 0.01891742
+v -0.02793871 0.02676652 0.01894001
+v -0.02793871 0.02721429 0.02088244
+v -0.02253622 0.02937939 0.01853832
+v -0.02114151 0.02672629 0.01381700
+v -0.02402741 0.02606553 0.01381700
+v -0.02793871 0.02422579 0.01381699
+v -0.02793871 0.01537087 0.02084067
+v -0.02793871 0.01474702 0.01960686
+v -0.02793871 0.01449714 0.01910777
+v -0.02793871 0.01285195 0.01538724
+v -0.02114151 0.01285196 0.01381695
+v -0.02793871 0.01285196 0.01381695
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 29
+f 1 29 22
+f 1 22 13
+f 1 13 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 6 7
+f 6 13 24
+f 6 24 34
+f 6 34 33
+f 6 33 32
+f 6 32 47
+f 6 47 40
+f 6 40 35
+f 6 35 26
+f 6 26 25
+f 6 25 17
+f 6 17 16
+f 6 16 14
+f 6 14 15
+f 6 15 7
+f 7 16 17
+f 7 17 8
+f 7 15 16
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 28
+f 10 28 38
+f 10 38 37
+f 10 37 42
+f 10 42 48
+f 10 48 46
+f 10 46 45
+f 10 45 44
+f 10 44 43
+f 10 43 29
+f 10 29 21
+f 10 21 11
+f 11 21 12
+f 13 22 23
+f 13 23 24
+f 14 16 15
+f 17 25 19
+f 17 19 18
+f 19 25 26
+f 19 26 35
+f 19 35 27
+f 19 27 28
+f 19 28 20
+f 22 30 23
+f 22 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 27 35 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 36
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 46 48
+f 31 48 47
+f 31 47 32
+f 31 45 46
+f 35 40 39
+f 36 42 37
+f 40 47 48
+f 40 48 42
+f 40 42 41
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_51.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71442d6057a6ae7f5befb5a47809ee6a07a23ab2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_51.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.02114085 0.00343952 0.01381691
+v -0.02114085 0.00343949 0.02209380
+v -0.02114085 0.00924053 0.01381693
+v -0.01023487 0.00343952 0.01381691
+v -0.02114085 0.00471315 0.02209381
+v -0.01023487 0.00343949 0.02209380
+v -0.02114085 0.00924051 0.01941614
+v -0.01403104 0.00924053 0.01381693
+v -0.01023487 0.00754440 0.01381693
+v -0.02114085 0.00900713 0.01991441
+v -0.01824568 0.00924050 0.02209382
+v -0.01023487 0.00763750 0.02209382
+v -0.02114085 0.00914397 0.01962355
+v -0.01355599 0.00924053 0.01381855
+v -0.01207104 0.00896169 0.02209382
+v -0.01120740 0.00842906 0.02209382
+v -0.01264538 0.00924050 0.02209382
+f 1 2 5
+f 1 5 10
+f 1 10 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 15
+f 2 15 17
+f 2 17 11
+f 2 11 5
+f 3 7 11
+f 3 11 17
+f 3 17 14
+f 3 14 8
+f 4 9 12
+f 4 12 6
+f 5 11 10
+f 7 13 11
+f 8 14 9
+f 9 15 16
+f 9 16 12
+f 9 14 15
+f 10 11 13
+f 14 17 15
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_52.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..712dc4a4503bddb0eda05ac5a1ef6c83bc389de2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_52.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00889108 -0.00467952 0.02283809
+v 0.00889108 -0.00448610 0.02283809
+v 0.00982286 -0.00735063 0.02283808
+v 0.00889108 -0.00803577 0.02283956
+v 0.00889108 -0.00483754 0.02677259
+v 0.01323627 -0.00327247 0.02855527
+v 0.01292491 -0.00327245 0.02283810
+v 0.01124260 -0.00817539 0.02283808
+v 0.00889108 -0.00974048 0.02694750
+v 0.01296557 -0.00840831 0.02283808
+v 0.01194317 -0.00968394 0.02571704
+v 0.00889108 -0.00514403 0.02882730
+v 0.01145637 -0.00541713 0.02993174
+v 0.01479659 -0.00327248 0.02892515
+v 0.00889108 -0.00537763 0.02922460
+v 0.01698894 -0.00327245 0.02283810
+v 0.00889108 -0.00977589 0.02790073
+v 0.01291445 -0.00989780 0.02680147
+v 0.01119031 -0.00984196 0.02694750
+v 0.01302831 -0.00840899 0.02283808
+v 0.01769184 -0.00974864 0.02563476
+v 0.02076019 -0.01023016 0.02672142
+v 0.01089870 -0.00658583 0.03015634
+v 0.01302598 -0.00670365 0.03041058
+v 0.01302598 -0.00539875 0.02993323
+v 0.01499991 -0.00327248 0.02897333
+v 0.00889108 -0.00617856 0.02983909
+v 0.01707607 -0.00327247 0.02676889
+v 0.01879905 -0.00384182 0.02283810
+v 0.01114733 -0.00985762 0.02853078
+v 0.00889108 -0.00977385 0.02803860
+v 0.02076019 -0.00826597 0.02283808
+v 0.02076019 -0.00979223 0.02571185
+v 0.02076019 -0.01010144 0.02829952
+v 0.01296673 -0.00991348 0.02868867
+v 0.00889108 -0.00660081 0.02993100
+v 0.00889108 -0.00818087 0.02991469
+v 0.01114733 -0.00863717 0.03003996
+v 0.01296673 -0.00872503 0.03008962
+v 0.01895124 -0.00838859 0.03000512
+v 0.01913365 -0.00652726 0.03003774
+v 0.01859573 -0.00551180 0.02983242
+v 0.01667641 -0.00327248 0.02879766
+v 0.01707607 -0.00327248 0.02874725
+v 0.01924751 -0.00398893 0.02283810
+v 0.01186998 -0.00970984 0.02973752
+v 0.00889108 -0.00922152 0.02891327
+v 0.02076019 -0.00454399 0.02283809
+v 0.02076019 -0.00852684 0.02924831
+v 0.02018974 -0.00797519 0.02980202
+v 0.01895124 -0.00936795 0.02937210
+v 0.01226848 -0.00970984 0.02973752
+v 0.00889108 -0.00827145 0.02984798
+v 0.02018974 -0.00706189 0.02980202
+v 0.01991323 -0.00575630 0.02965007
+v 0.02025713 -0.00539056 0.02836477
+v 0.00889108 -0.00916091 0.02900296
+v 0.02076019 -0.00636108 0.02875095
+v 0.02076019 -0.00667845 0.02901335
+v 0.02076019 -0.00649048 0.02894590
+f 1 2 7
+f 1 7 16
+f 1 16 29
+f 1 29 45
+f 1 45 48
+f 1 48 32
+f 1 32 20
+f 1 20 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 31
+f 1 31 47
+f 1 47 57
+f 1 57 53
+f 1 53 37
+f 1 37 36
+f 1 36 27
+f 1 27 15
+f 1 15 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 5 12 6
+f 6 13 14
+f 6 14 26
+f 6 26 43
+f 6 43 44
+f 6 44 28
+f 6 28 16
+f 6 16 7
+f 6 12 15
+f 6 15 13
+f 9 11 18
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+f 10 20 21
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+f 13 23 24
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+f 13 15 27
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+f 16 28 29
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+f 17 19 22
+f 17 22 30
+f 18 22 19
+f 20 32 33
+f 20 33 21
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+f 22 33 32
+f 22 32 48
+f 22 48 58
+f 22 58 60
+f 22 60 59
+f 22 59 49
+f 22 49 34
+f 22 34 35
+f 22 35 30
+f 23 27 36
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 25 42 26
+f 26 42 43
+f 28 44 45
+f 28 45 29
+f 30 35 46
+f 30 46 31
+f 31 46 47
+f 34 49 50
+f 34 50 40
+f 34 40 51
+f 34 51 52
+f 34 52 46
+f 34 46 35
+f 37 53 46
+f 37 46 38
+f 38 46 39
+f 39 46 52
+f 39 52 40
+f 40 50 41
+f 40 52 51
+f 41 50 54
+f 41 54 55
+f 41 55 42
+f 42 55 44
+f 42 44 43
+f 44 55 56
+f 44 56 48
+f 44 48 45
+f 46 53 57
+f 46 57 47
+f 48 56 58
+f 49 59 54
+f 49 54 50
+f 54 59 55
+f 55 59 60
+f 55 60 56
+f 56 60 58
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_53.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c42eddbe993acfc8d1e4e0699768f65e5a76a8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_53.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00179301 -0.01258420 0.03000281
+v -0.00624894 -0.01258420 0.02984438
+v -0.00605830 -0.01375111 0.02976674
+v -0.00179301 -0.01341247 0.02993468
+v -0.00179301 -0.01135689 0.02982379
+v -0.00610058 -0.01135904 0.02979844
+v -0.00937113 -0.01058038 0.02874958
+v -0.00937113 -0.01846192 0.02864182
+v -0.00179301 -0.01389779 0.02986022
+v -0.00475646 -0.02042043 0.02842316
+v -0.00179301 -0.01102471 0.02954969
+v -0.00464223 -0.01057822 0.02915994
+v -0.00936297 -0.01057822 0.02874641
+v -0.00937113 -0.01057822 0.02874008
+v -0.00937113 -0.02048945 0.02815065
+v -0.00179301 -0.02048945 0.02824254
+v -0.00623411 -0.02169950 0.02800489
+v -0.00475646 -0.02164989 0.02795894
+v -0.00179301 -0.01057822 0.02916469
+v -0.00937113 -0.01057816 0.01381844
+v -0.00937113 -0.02122713 0.02785279
+v -0.00179301 -0.02149028 0.02783061
+v -0.00937113 -0.02755780 0.02419128
+v -0.00475646 -0.02785115 0.02443527
+v -0.00278033 -0.02785330 0.02443527
+v -0.00179301 -0.01057816 0.01381844
+v -0.00937113 -0.01581311 0.01381684
+v -0.00179301 -0.02761388 0.02420079
+v -0.00937113 -0.03142090 0.02036341
+v -0.00475646 -0.03152443 0.02026201
+v -0.00179301 -0.03138207 0.02015428
+v -0.00179301 -0.01581311 0.01381684
+v -0.00937113 -0.02296128 0.01381682
+v -0.00937113 -0.03142521 0.02035549
+v -0.00475646 -0.03240016 0.01906264
+v -0.00179301 -0.03224701 0.01899134
+v -0.00179301 -0.02296128 0.01381682
+v -0.00475646 -0.03063143 0.01381837
+v -0.00571782 -0.03035750 0.01381837
+v -0.00658794 -0.03001022 0.01381837
+v -0.00937113 -0.02415192 0.01381839
+v -0.00937113 -0.03164522 0.01896758
+v -0.00475646 -0.03261153 0.01713446
+v -0.00179301 -0.03250584 0.01719308
+v -0.00179301 -0.03240016 0.01796150
+v -0.00179301 -0.03041358 0.01381837
+v -0.00179301 -0.03161502 0.01548988
+v -0.00475646 -0.03173796 0.01549938
+v -0.00626081 -0.03159344 0.01566574
+v -0.00937113 -0.03111030 0.01808351
+v -0.00937113 -0.03030574 0.01709169
+v -0.00684460 -0.03193425 0.01706633
+v -0.00179301 -0.03210680 0.01642149
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 22
+f 1 22 28
+f 1 28 31
+f 1 31 36
+f 1 36 45
+f 1 45 44
+f 1 44 53
+f 1 53 47
+f 1 47 46
+f 1 46 37
+f 1 37 32
+f 1 32 26
+f 1 26 19
+f 1 19 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 9
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 20
+f 7 20 27
+f 7 27 33
+f 7 33 41
+f 7 41 51
+f 7 51 50
+f 7 50 42
+f 7 42 34
+f 7 34 29
+f 7 29 23
+f 7 23 21
+f 7 21 15
+f 7 15 8
+f 8 15 10
+f 9 10 16
+f 10 15 17
+f 10 17 18
+f 10 18 16
+f 11 19 12
+f 12 19 26
+f 12 26 20
+f 12 20 14
+f 12 14 13
+f 15 21 17
+f 16 18 22
+f 17 21 23
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 18 25 22
+f 20 26 32
+f 20 32 27
+f 22 25 28
+f 23 29 24
+f 24 29 30
+f 24 30 25
+f 25 30 31
+f 25 31 28
+f 27 32 37
+f 27 37 33
+f 29 34 35
+f 29 35 30
+f 30 35 36
+f 30 36 31
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 34 42 35
+f 35 42 43
+f 35 43 44
+f 35 44 45
+f 35 45 36
+f 37 46 38
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 39
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 41
+f 42 52 43
+f 42 50 49
+f 42 49 52
+f 43 48 47
+f 43 47 53
+f 43 53 44
+f 43 52 49
+f 43 49 48
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_54.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545cfcf60869c9cd2dc6f6caece4d0ea9cc93254
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_54.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01491310 0.01699360 0.02872998
+v 0.01491310 0.02070259 0.02847246
+v 0.01318196 0.01699360 0.02927839
+v 0.01491310 0.01699366 0.01381696
+v 0.01491310 0.02073936 0.02845580
+v 0.01104939 0.01877175 0.02915569
+v 0.01302458 0.01877175 0.02915114
+v 0.01122528 0.01699360 0.02929203
+v 0.00932666 0.01699366 0.01381696
+v 0.01491310 0.02107674 0.01381698
+v 0.01104939 0.02041323 0.02837853
+v 0.01491310 0.02107669 0.02813009
+v 0.00631632 0.02022498 0.02818007
+v 0.00631632 0.01877175 0.02884361
+v 0.01090211 0.01699360 0.02929203
+v 0.00887221 0.01932097 0.01381697
+v 0.00631632 0.01699365 0.01693318
+v 0.00861300 0.02107674 0.01381698
+v 0.01102330 0.02107669 0.02727112
+v 0.00631632 0.02107589 0.02678786
+v 0.00631632 0.01699360 0.02872847
+v 0.00953706 0.01699360 0.02914205
+v 0.00631632 0.02094801 0.02481541
+v 0.00947478 0.02107670 0.02459726
+v 0.01066562 0.02107669 0.02710902
+v 0.01042493 0.02107669 0.02686209
+v 0.00980216 0.02107669 0.02594404
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 22
+f 1 22 21
+f 1 21 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 16
+f 4 16 18
+f 4 18 10
+f 5 11 6
+f 5 12 13
+f 5 13 11
+f 6 14 15
+f 6 15 8
+f 6 8 7
+f 6 11 13
+f 6 13 14
+f 9 17 16
+f 10 18 24
+f 10 24 27
+f 10 27 26
+f 10 26 25
+f 10 25 19
+f 10 19 12
+f 12 19 20
+f 12 20 13
+f 13 20 23
+f 13 23 17
+f 13 17 21
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 16 17 18
+f 17 23 18
+f 18 23 20
+f 18 20 24
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 20 27 24
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_55.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c1f60f704b31e891f56c3f4a4a5e3b76e7d231
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_55.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02659751 0.01877189 0.02865948
+v 0.02132791 0.01877189 0.02890688
+v 0.02290337 0.01699360 0.02894983
+v 0.02659751 0.01853420 0.02863874
+v 0.02659751 0.02032966 0.02819579
+v 0.02132791 0.01699360 0.02892612
+v 0.02132791 0.02058056 0.02835875
+v 0.02308651 0.01699360 0.02891575
+v 0.02659751 0.01718508 0.02818985
+v 0.02659751 0.02058980 0.02810543
+v 0.02132791 0.01699366 0.01381696
+v 0.02659751 0.02145738 0.02687436
+v 0.02132791 0.02145342 0.02677214
+v 0.02549149 0.01699361 0.02819429
+v 0.02659751 0.01699361 0.02784023
+v 0.02132791 0.02149044 0.01381698
+v 0.02449895 0.01699366 0.01381696
+v 0.02659751 0.02148863 0.02677214
+v 0.02132791 0.02149041 0.02130860
+v 0.02659751 0.01699365 0.01606578
+v 0.02563438 0.02149044 0.01381698
+v 0.02394388 0.02149042 0.02007753
+v 0.02385309 0.02149042 0.02017678
+v 0.02342079 0.02149041 0.02049677
+v 0.02199080 0.02149041 0.02132490
+v 0.02659751 0.02138476 0.02574254
+v 0.02563851 0.02149044 0.01388957
+v 0.02659751 0.02126723 0.02478257
+v 0.02659751 0.02128792 0.02492034
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 28
+f 1 28 29
+f 1 29 26
+f 1 26 18
+f 1 18 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 13
+f 2 13 19
+f 2 19 16
+f 2 16 11
+f 2 11 6
+f 3 8 4
+f 3 6 11
+f 3 11 17
+f 3 17 20
+f 3 20 15
+f 3 15 14
+f 3 14 8
+f 4 8 9
+f 5 10 7
+f 7 10 12
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 11 16 21
+f 11 21 17
+f 12 18 13
+f 13 18 19
+f 16 19 25
+f 16 25 24
+f 16 24 23
+f 16 23 22
+f 16 22 27
+f 16 27 21
+f 17 21 20
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 18 26 21
+f 18 21 27
+f 18 27 22
+f 20 21 28
+f 21 26 29
+f 21 29 28
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_56.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2cc3fca73fedfd39831da877c626631c4197c7f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_56.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.02132791 0.02149044 0.01381785
+v 0.02132791 0.02281072 0.01381785
+v 0.02563438 0.02149044 0.01381785
+v 0.02132791 0.02149041 0.02130650
+v 0.02187886 0.02375903 0.01381786
+v 0.02132791 0.02477274 0.01889442
+v 0.02180199 0.02774558 0.01964469
+v 0.02597434 0.02209471 0.01381785
+v 0.02582009 0.02179037 0.01410754
+v 0.02563851 0.02149044 0.01388897
+v 0.02170243 0.02149041 0.02131691
+v 0.02487863 0.02493740 0.02236380
+v 0.02330162 0.02509766 0.02226926
+v 0.02311488 0.02660981 0.02237682
+v 0.02212699 0.02660981 0.02162397
+v 0.02132791 0.02309298 0.02117813
+v 0.02299004 0.02529323 0.01381786
+v 0.02132791 0.02447133 0.02044177
+v 0.02180199 0.02774558 0.02032555
+v 0.02277905 0.02830428 0.01902540
+v 0.02351829 0.02587398 0.01381787
+v 0.02619719 0.02266370 0.01381785
+v 0.02659751 0.02453088 0.02072539
+v 0.02598362 0.02357964 0.02024922
+v 0.02394388 0.02149042 0.02007574
+v 0.02199080 0.02149041 0.02132385
+v 0.02487863 0.02660981 0.02267779
+v 0.02616830 0.02523954 0.02218513
+v 0.02344555 0.02791833 0.02220249
+v 0.02165549 0.02660981 0.02065948
+v 0.02132791 0.02412362 0.02076095
+v 0.02283373 0.02826236 0.02097606
+v 0.02487863 0.02899970 0.01906011
+v 0.02335476 0.02798818 0.01763592
+v 0.02466197 0.02582473 0.01381786
+v 0.02487863 0.02811315 0.01751189
+v 0.02618172 0.02463236 0.01381786
+v 0.02636846 0.02465072 0.01520474
+v 0.02659751 0.02455221 0.01830983
+v 0.02659751 0.02443165 0.01883805
+v 0.02659751 0.02438019 0.01911646
+v 0.02659751 0.02438019 0.01930468
+v 0.02659751 0.02486316 0.02115819
+v 0.02397793 0.02156687 0.02014252
+v 0.02385309 0.02149042 0.02017635
+v 0.02342079 0.02149041 0.02049640
+v 0.02625858 0.02660981 0.02225279
+v 0.02608731 0.02781614 0.02212095
+v 0.02487863 0.02800580 0.02226580
+v 0.02659751 0.02573795 0.02168727
+v 0.02659751 0.02659657 0.02180437
+v 0.02487863 0.02889310 0.02098821
+v 0.02651548 0.02822341 0.01906010
+v 0.02616108 0.02788967 0.01777816
+v 0.02645977 0.02816827 0.02098820
+v 0.02487863 0.02581149 0.01381786
+v 0.02600839 0.02514400 0.01381786
+v 0.02659751 0.02742801 0.01826994
+v 0.02659751 0.02660248 0.01751622
+v 0.02659751 0.02791024 0.02096739
+v 0.02659751 0.02807124 0.01907224
+v 0.02588819 0.02565418 0.01419081
+f 1 2 5
+f 1 5 17
+f 1 17 21
+f 1 21 35
+f 1 35 56
+f 1 56 57
+f 1 57 37
+f 1 37 22
+f 1 22 8
+f 1 8 3
+f 1 3 10
+f 1 10 25
+f 1 25 45
+f 1 45 46
+f 1 46 26
+f 1 26 11
+f 1 11 4
+f 1 4 16
+f 1 16 31
+f 1 31 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 7 17
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 7 20 21
+f 7 21 17
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 10
+f 10 24 25
+f 11 26 12
+f 12 27 13
+f 12 26 28
+f 12 28 27
+f 13 27 14
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+f 14 29 15
+f 15 30 16
+f 15 29 19
+f 15 19 30
+f 16 30 31
+f 18 31 30
+f 18 30 19
+f 19 29 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 33
+f 21 33 36
+f 21 36 35
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 23
+f 23 43 44
+f 23 44 24
+f 23 42 41
+f 23 41 40
+f 23 40 39
+f 23 39 59
+f 23 59 58
+f 23 58 61
+f 23 61 60
+f 23 60 51
+f 23 51 50
+f 23 50 43
+f 24 44 25
+f 25 44 45
+f 26 46 28
+f 27 28 47
+f 27 47 48
+f 27 48 49
+f 27 49 29
+f 28 43 50
+f 28 50 51
+f 28 51 47
+f 28 46 45
+f 28 45 44
+f 28 44 43
+f 29 49 52
+f 29 52 32
+f 32 52 33
+f 33 53 54
+f 33 54 36
+f 33 52 55
+f 33 55 53
+f 35 36 56
+f 36 54 56
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 38 59 39
+f 47 51 48
+f 48 51 60
+f 48 60 55
+f 48 55 52
+f 48 52 49
+f 53 55 61
+f 53 61 57
+f 53 57 62
+f 53 62 54
+f 54 62 56
+f 55 60 61
+f 56 62 57
+f 57 61 58
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_57.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fe844a008798ee8be382ba3fc8553a5ddfdc304
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_57.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01566195 -0.00201387 0.02283772
+v 0.01566195 -0.00745542 0.02283770
+v 0.01566195 -0.00201387 0.02092105
+v 0.01383547 -0.00201387 0.02283772
+v 0.01566195 -0.00738864 0.02205392
+v 0.01460092 -0.00791671 0.02283770
+v 0.01566195 -0.00253842 0.01888402
+v 0.01501611 -0.00201387 0.02092105
+v 0.00709679 -0.00292152 0.01888402
+v 0.00180870 -0.00344608 0.01888402
+v 0.00167372 -0.00348737 0.01906090
+v 0.00197101 -0.00364027 0.02042408
+v 0.00314823 -0.00458220 0.02283771
+v 0.01566195 -0.00738249 0.02199470
+v 0.01566195 -0.00727441 0.02096554
+v 0.01302731 -0.00840876 0.02283770
+v 0.01566195 -0.00679993 0.01888401
+v 0.00162417 -0.00347595 0.01888402
+v 0.00152165 -0.00355503 0.01888402
+v 0.00102958 -0.00511994 0.02283771
+v 0.01566195 -0.00686934 0.01911352
+v 0.00160196 -0.01098938 0.01888399
+v 0.00163100 -0.01098939 0.02283769
+v 0.01238146 -0.00779193 0.01888400
+v 0.00065027 -0.00431068 0.01888401
+v 0.00014624 -0.00567701 0.02216734
+v 0.00100908 -0.00513751 0.02283771
+v -0.00179301 -0.01098938 0.01888399
+v -0.00179301 -0.01098939 0.02283769
+v 0.00003689 -0.00517528 0.01888401
+v -0.00179301 -0.00869345 0.02283770
+v -0.00179301 -0.00808277 0.01888400
+v -0.00179301 -0.00811528 0.01911971
+v -0.00179301 -0.00826641 0.02014887
+f 1 2 5
+f 1 5 14
+f 1 14 15
+f 1 15 21
+f 1 21 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 13
+f 1 13 20
+f 1 20 27
+f 1 27 31
+f 1 31 29
+f 1 29 23
+f 1 23 16
+f 1 16 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 6 14
+f 6 15 14
+f 6 16 15
+f 7 17 24
+f 7 24 22
+f 7 22 28
+f 7 28 32
+f 7 32 30
+f 7 30 25
+f 7 25 19
+f 7 19 18
+f 7 18 10
+f 7 10 9
+f 7 9 8
+f 10 18 11
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 15 16 22
+f 15 22 21
+f 16 23 22
+f 17 21 24
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 21 22 24
+f 22 23 29
+f 22 29 28
+f 25 30 26
+f 26 30 31
+f 26 31 27
+f 28 29 31
+f 28 31 34
+f 28 34 33
+f 28 33 32
+f 30 32 33
+f 30 33 34
+f 30 34 31
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_58.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d82375c0665799b2cfa03efa0a8087cca1171d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_58.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01644215 -0.01057819 0.02269057
+v -0.01644215 -0.01057822 0.02930826
+v -0.01644215 -0.00698139 0.02269058
+v -0.00179301 -0.01057819 0.02269057
+v -0.01644215 -0.01057671 0.02932068
+v -0.01249738 -0.01057822 0.02942854
+v -0.01644215 -0.00774311 0.02677310
+v -0.01410626 -0.00282776 0.02810240
+v -0.01404891 -0.00282776 0.02662180
+v -0.01410913 -0.00327080 0.02269060
+v -0.00179301 -0.00868155 0.02269058
+v -0.00179301 -0.01057822 0.02916626
+v -0.01406038 -0.00670300 0.03003073
+v -0.01390264 -0.00541328 0.02989804
+v -0.01644215 -0.00865199 0.02864868
+v -0.01190230 -0.01004640 0.02973428
+v -0.01259919 -0.00872634 0.03009979
+v -0.01265655 -0.00670300 0.03061739
+v -0.01243572 -0.01057822 0.02942854
+v -0.01410196 -0.00282776 0.02814197
+v -0.01394136 -0.00321010 0.02269060
+v -0.01205286 -0.00282774 0.02269060
+v -0.01265942 -0.00289450 0.02269060
+v -0.01329465 -0.00305079 0.02269060
+v -0.00179301 -0.00871647 0.02830025
+v -0.00350227 -0.00529338 0.02269059
+v -0.00326280 -0.00516443 0.02677311
+v -0.00341480 -0.00533816 0.02818697
+v -0.00443720 -0.00670300 0.02944951
+v -0.00542519 -0.00670300 0.02972965
+v -0.00535636 -0.00784857 0.02974361
+v -0.01147498 -0.01004640 0.02973428
+v -0.01265655 -0.00509161 0.03012541
+v -0.00570624 -0.00571143 0.02967300
+v -0.00855978 -0.00282777 0.02906075
+v -0.01265655 -0.00282777 0.02860679
+v -0.01023606 -0.00282774 0.02269060
+v -0.00486021 -0.00431243 0.02269059
+v -0.00534632 -0.00282775 0.02547876
+v -0.00500504 -0.00282776 0.02677312
+v -0.00539364 -0.00282776 0.02798367
+v -0.00679890 -0.00282777 0.02883028
+v -0.01080963 -0.00282777 0.02897074
+v -0.00870748 -0.00282777 0.02906308
+v -0.00499787 -0.00423657 0.02269059
+f 1 2 5
+f 1 5 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 21
+f 1 21 24
+f 1 24 23
+f 1 23 22
+f 1 22 37
+f 1 37 45
+f 1 45 38
+f 1 38 26
+f 1 26 11
+f 1 11 4
+f 1 4 12
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+f 1 19 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
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+f 3 9 10
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+f 4 25 12
+f 5 13 14
+f 5 14 15
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+f 5 18 13
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+f 8 20 36
+f 8 36 43
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+f 8 22 9
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+f 9 24 21
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+f 12 31 18
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+f 12 32 19
+f 13 18 14
+f 14 20 15
+f 14 18 33
+f 14 33 20
+f 16 32 17
+f 17 32 18
+f 18 31 30
+f 18 30 34
+f 18 34 35
+f 18 35 33
+f 20 33 36
+f 25 27 28
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 34
+f 28 34 29
+f 29 34 30
+f 33 43 36
+f 33 35 44
+f 33 44 43
+f 34 42 35
+f 37 39 45
+f 38 45 39
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_59.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..473651bbb917109e8f9455d1592b9cf9c53cf66e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_59.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02114085 0.02387624 0.01381861
+v -0.02114085 0.02387623 0.01628852
+v -0.02114085 0.02672866 0.01381862
+v -0.01028612 0.02387624 0.01381861
+v -0.01265819 0.02387622 0.01789200
+v -0.02114085 0.02503189 0.02087688
+v -0.02114085 0.02998187 0.01926202
+v -0.01787311 0.03161960 0.01792295
+v -0.01864067 0.02836102 0.01381862
+v -0.01023487 0.02403948 0.01381861
+v -0.01023487 0.02692712 0.02070197
+v -0.01071313 0.02387623 0.01608676
+v -0.02114085 0.02568024 0.02186044
+v -0.02114085 0.02514608 0.02113558
+v -0.02114085 0.02507481 0.02098833
+v -0.01203474 0.02387623 0.01765689
+v -0.01166965 0.02563197 0.02002347
+v -0.02114085 0.02998187 0.01951340
+v -0.01906982 0.03117664 0.01905945
+v -0.01707993 0.03161960 0.01792295
+v -0.01170060 0.02955886 0.01421320
+v -0.01660808 0.02891971 0.01381863
+v -0.01719950 0.02876260 0.01381863
+v -0.01808235 0.03170543 0.01905946
+v -0.01023487 0.02833803 0.01381862
+v -0.01023487 0.02848131 0.02173517
+v -0.01138141 0.02744365 0.02204431
+v -0.01086792 0.02668725 0.02088665
+v -0.01111026 0.02387623 0.01727778
+v -0.02114085 0.02660831 0.02210370
+v -0.02114085 0.02986384 0.02042375
+v -0.01796599 0.03165715 0.02028058
+v -0.01117965 0.03167784 0.01905946
+v -0.01142304 0.03159431 0.01796606
+v -0.01164509 0.02955886 0.01421320
+v -0.01210520 0.02924848 0.01381863
+v -0.01126291 0.03164872 0.02029278
+v -0.01023487 0.03034361 0.01733963
+v -0.01057115 0.02862465 0.01381863
+v -0.01023487 0.02856868 0.02174981
+v -0.01112734 0.02856868 0.02212892
+v -0.01230803 0.02856868 0.02212892
+v -0.01786030 0.02974505 0.02204595
+v -0.02114085 0.02679530 0.02209313
+v -0.02114085 0.02971287 0.02070768
+v -0.01218206 0.02982476 0.02209395
+v -0.01216071 0.03164872 0.02029278
+v -0.01023487 0.03124178 0.01905945
+v -0.01023487 0.03123488 0.01902040
+v -0.01123836 0.02912969 0.01381863
+v -0.01123623 0.02982476 0.02209395
+v -0.01059143 0.03059725 0.02106238
+v -0.01023487 0.03044168 0.02091269
+v -0.01023487 0.03115365 0.01927829
+v -0.01023487 0.02900014 0.02157166
+v -0.02114085 0.02801919 0.02198167
+v -0.02114085 0.02683592 0.02208987
+f 1 2 6
+f 1 6 15
+f 1 15 14
+f 1 14 13
+f 1 13 30
+f 1 30 44
+f 1 44 57
+f 1 57 56
+f 1 56 45
+f 1 45 31
+f 1 31 18
+f 1 18 7
+f 1 7 3
+f 1 3 9
+f 1 9 23
+f 1 23 22
+f 1 22 36
+f 1 36 50
+f 1 50 39
+f 1 39 25
+f 1 25 10
+f 1 10 4
+f 1 4 12
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+f 1 29 16
+f 1 16 5
+f 1 5 2
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+f 5 13 14
+f 5 14 15
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+f 5 17 13
+f 7 18 19
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+f 21 36 22
+f 24 32 37
+f 24 37 33
+f 25 39 38
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+f 30 41 42
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+f 30 43 44
+f 31 45 32
+f 32 45 43
+f 32 43 46
+f 32 46 47
+f 32 47 37
+f 33 37 48
+f 33 48 49
+f 33 49 34
+f 34 49 38
+f 34 38 39
+f 34 39 50
+f 34 50 35
+f 35 50 36
+f 37 47 46
+f 37 46 51
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 48
+f 40 55 51
+f 40 51 41
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+f 41 46 42
+f 42 46 43
+f 43 45 56
+f 43 56 57
+f 43 57 44
+f 51 55 53
+f 51 53 52
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_6.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa7e8ecb48b6f3eedda41a015c7d57f15470e57
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_6.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01210513 0.02924945 0.01381701
+v -0.01123889 0.02913036 0.01381701
+v -0.01095909 0.02807225 0.01142599
+v -0.01272515 0.02810574 0.01142599
+v -0.01799422 0.02785269 0.01142599
+v -0.01661092 0.02891948 0.01381701
+v -0.01080465 0.02800154 0.01142599
+v -0.01089194 0.02805736 0.01142599
+v -0.01057186 0.02862549 0.01381701
+v -0.00969666 0.02758226 0.01231934
+v -0.01864334 0.02836127 0.01381700
+v -0.01720184 0.02876318 0.01381701
+v -0.03018874 0.02394148 0.01142598
+v -0.03057150 0.02456543 0.01381699
+v -0.00989588 0.02735402 0.01142599
+v -0.00971233 0.02789113 0.01381700
+v -0.00961832 0.02774228 0.01360449
+v -0.00954222 0.02645220 0.01142599
+v -0.03113332 0.02358671 0.01142598
+v -0.03162352 0.02395636 0.01381699
+v -0.00961384 0.02776088 0.01381700
+v -0.00953326 0.02637032 0.01142599
+v -0.03117137 0.02356066 0.01142598
+v -0.03161009 0.02392411 0.01368382
+v -0.03188317 0.02258937 0.01142597
+v -0.03178916 0.02332372 0.01381699
+v -0.00941687 0.01948198 0.01381697
+v -0.00941687 0.02008238 0.01142596
+v -0.03228159 0.02048181 0.01142597
+v -0.03184735 0.02279652 0.01381698
+v -0.00941687 0.01657680 0.01381696
+v -0.00941687 0.01657681 0.01142595
+v -0.03227264 0.01657681 0.01142595
+v -0.03180706 0.02149650 0.01381698
+v -0.02859056 0.01657680 0.01381696
+v -0.03171081 0.02115165 0.01381698
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 11
+f 1 11 14
+f 1 14 20
+f 1 20 26
+f 1 26 30
+f 1 30 34
+f 1 34 36
+f 1 36 35
+f 1 35 31
+f 1 31 27
+f 1 27 21
+f 1 21 16
+f 1 16 9
+f 1 9 2
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+f 2 8 3
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+f 31 35 33
+f 31 33 32
+f 33 35 36
+f 33 36 34
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_60.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ea7f4304d9371a936a4f7dcf3018a707cac73a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_60.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.01491350 0.02541821 0.01381699
+v 0.01491350 0.02981890 0.01381701
+v 0.01501722 0.02478134 0.01381699
+v 0.00631631 0.02466941 0.01381830
+v 0.01532161 0.02998134 0.01381701
+v 0.00631631 0.02729616 0.01381831
+v 0.00940069 0.03213959 0.01381833
+v 0.01661867 0.02478134 0.01381699
+v 0.00908417 0.02466941 0.01381830
+v 0.00631631 0.02466940 0.01759358
+v 0.01697559 0.02993182 0.01381701
+v 0.01104928 0.03274675 0.01381833
+v 0.00631631 0.02747246 0.01399308
+v 0.00631631 0.03045478 0.01721515
+v 0.00822081 0.03309440 0.01713369
+v 0.00955424 0.03385905 0.01571451
+v 0.01769214 0.02582629 0.01381699
+v 0.01696616 0.02478134 0.01381962
+v 0.01134425 0.02466939 0.01845822
+v 0.01491350 0.02467039 0.01638071
+v 0.00834203 0.02466938 0.02280511
+v 0.00631631 0.02552913 0.02027950
+v 0.01134425 0.03263879 0.01381833
+v 0.01183317 0.03245853 0.01381833
+v 0.01259820 0.03209700 0.01381833
+v 0.01802482 0.03156708 0.01611398
+v 0.01728672 0.02976443 0.01381701
+v 0.01104928 0.03404130 0.01551347
+v 0.01134425 0.03400069 0.01556340
+v 0.01247429 0.03384122 0.01575130
+v 0.00631631 0.03069942 0.01779333
+v 0.00920808 0.03414034 0.01713370
+v 0.00631631 0.03112928 0.01915601
+v 0.01104928 0.03478812 0.01713370
+v 0.01773793 0.02589364 0.01381700
+v 0.01939595 0.02478131 0.02116386
+v 0.01134425 0.02466937 0.02546081
+v 0.01961280 0.02478131 0.02276700
+v 0.01961549 0.02478131 0.02280774
+v 0.01491350 0.02467036 0.02549366
+v 0.00903838 0.02466937 0.02417435
+v 0.00929429 0.02466937 0.02465136
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+v 0.01829285 0.03181966 0.01713500
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+v 0.01809890 0.02915627 0.01381701
+v 0.01801135 0.02960892 0.01412975
+v 0.01134425 0.03459200 0.01684724
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+v 0.02007613 0.02560142 0.02201799
+v 0.01912523 0.02478130 0.02496673
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+v 0.01833191 0.02478129 0.02671705
+v 0.01705775 0.02478129 0.02724135
+v 0.01104928 0.02466937 0.02551469
+v 0.00631631 0.02961087 0.02198648
+v 0.00631631 0.02856295 0.02202720
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+v 0.00631631 0.02633635 0.02123351
+v 0.01831305 0.03183946 0.01906403
+v 0.01896225 0.03052806 0.01906402
+v 0.02007613 0.02565491 0.02193389
+v 0.01827669 0.02855505 0.01381700
+v 0.00631631 0.02979411 0.02175520
+v 0.01000005 0.03351534 0.02005877
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+v 0.01206888 0.03349356 0.02004300
+v 0.01805176 0.03159184 0.02010213
+v 0.02007613 0.02565491 0.02201799
+v 0.01855819 0.02661071 0.02452390
+v 0.01819049 0.02775867 0.02410735
+v 0.01697559 0.02790031 0.02429000
+v 0.01134425 0.03351336 0.02006008
+f 1 2 5
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+f 17 36 18
+f 18 36 20
+f 19 20 40
+f 19 40 37
+f 20 36 38
+f 20 38 39
+f 20 39 40
+f 21 41 22
+f 22 41 42
+f 22 42 43
+f 23 30 24
+f 24 30 26
+f 24 26 25
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 26 30 44
+f 27 47 46
+f 28 34 29
+f 29 34 48
+f 29 48 30
+f 30 49 44
+f 30 48 34
+f 30 34 49
+f 32 50 34
+f 32 33 50
+f 33 51 50
+f 34 50 52
+f 34 52 53
+f 34 53 54
+f 34 54 49
+f 35 55 36
+f 36 55 56
+f 36 56 38
+f 37 40 57
+f 38 56 39
+f 39 56 58
+f 39 58 59
+f 39 59 40
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 63
+f 40 63 57
+f 42 64 65
+f 42 65 66
+f 42 66 67
+f 42 67 43
+f 42 63 64
+f 44 49 68
+f 44 68 45
+f 45 69 70
+f 45 70 71
+f 45 71 46
+f 45 68 69
+f 49 54 68
+f 50 51 72
+f 50 72 73
+f 50 73 52
+f 52 73 74
+f 52 74 75
+f 52 75 76
+f 52 76 53
+f 53 76 77
+f 53 77 54
+f 54 77 68
+f 55 71 56
+f 56 70 78
+f 56 78 58
+f 56 71 70
+f 58 78 59
+f 59 78 60
+f 60 78 79
+f 60 79 61
+f 61 79 80
+f 61 80 62
+f 62 80 81
+f 62 81 76
+f 62 76 82
+f 62 82 74
+f 62 74 73
+f 62 73 64
+f 62 64 63
+f 64 73 72
+f 68 77 69
+f 69 78 70
+f 69 77 78
+f 74 82 75
+f 75 82 76
+f 76 81 80
+f 76 80 77
+f 77 80 78
+f 78 80 79
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_61.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627855319f26073d1aa69ac73cdef8f2b82a25ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_61.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01644275 -0.00752980 0.02428812
+v -0.01680356 -0.00282822 0.02681872
+v -0.01706926 -0.00282822 0.02835498
+v -0.01645107 -0.00752980 0.02429739
+v -0.01644275 -0.00752976 0.01381687
+v -0.01644275 -0.00282819 0.01878850
+v -0.01738609 -0.00282823 0.02861900
+v -0.01746277 -0.00389925 0.02797053
+v -0.01700388 -0.00752980 0.02483160
+v -0.02198213 -0.00752976 0.01381687
+v -0.01644275 -0.00282817 0.01381689
+v -0.01829079 -0.00282823 0.02935702
+v -0.01842156 -0.00296355 0.02939099
+v -0.02251473 -0.00676302 0.02875486
+v -0.02251473 -0.00686704 0.02859273
+v -0.01791572 -0.00752980 0.02483160
+v -0.02251473 -0.00719975 0.01381687
+v -0.02092228 -0.00752979 0.02099019
+v -0.02251473 -0.00725455 0.02099019
+v -0.02251473 -0.00282817 0.01381689
+v -0.01856125 -0.00282823 0.02950833
+v -0.02251473 -0.00659687 0.02883515
+v -0.02251473 -0.00697335 0.02743475
+v -0.01793355 -0.00752980 0.02481925
+v -0.02032965 -0.00752979 0.02245851
+v -0.02251473 -0.00701202 0.02686193
+v -0.02251473 -0.00282823 0.02875333
+v -0.02030290 -0.00282823 0.02958862
+v -0.02062151 -0.00282823 0.02958862
+v -0.02251473 -0.00454087 0.02916710
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 24
+f 1 24 25
+f 1 25 18
+f 1 18 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 11
+f 2 11 20
+f 2 20 27
+f 2 27 29
+f 2 29 28
+f 2 28 21
+f 2 21 12
+f 2 12 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 17
+f 5 17 20
+f 5 20 11
+f 7 12 13
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 10 18 19
+f 10 19 17
+f 12 21 13
+f 13 21 14
+f 14 21 22
+f 14 22 30
+f 14 30 27
+f 14 27 20
+f 14 20 17
+f 14 17 19
+f 14 19 26
+f 14 26 23
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 18 25 26
+f 18 26 19
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 23 26 25
+f 23 25 24
+f 27 30 29
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_62.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ae070d45b0d84b8a4424e969941f8174cf5e0f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_62.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.02409749 0.00867844 0.01381756
+v 0.02409749 0.00867842 0.02024916
+v 0.02409749 0.01125471 0.01381757
+v 0.03489756 0.00867844 0.01381756
+v 0.02409749 0.01125469 0.02024917
+v 0.03507520 0.00867842 0.02024916
+v 0.03669632 0.01125471 0.01381757
+v 0.03628638 0.00939193 0.01381756
+v 0.02759938 0.01125469 0.02024917
+v 0.03678701 0.01091045 0.01381757
+v 0.03610998 0.01125470 0.01701479
+v 0.03559197 0.01125469 0.01841067
+v 0.03477085 0.01125469 0.01907681
+v 0.03475594 0.01125469 0.01908248
+v 0.03617210 0.01125470 0.01673713
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 10
+f 1 10 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 14
+f 3 14 13
+f 3 13 12
+f 3 12 11
+f 3 11 15
+f 3 15 7
+f 4 8 6
+f 6 8 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 9
+f 7 15 10
+f 10 15 11
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_63.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39e72f4c6ee9259e6de65fe535d69ce48b231727
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_63.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01644270 -0.01057733 0.02931979
+v -0.01751218 -0.00959680 0.02968984
+v -0.01747042 -0.01057792 0.02970072
+v -0.01644324 -0.01057792 0.02931979
+v -0.01644270 -0.01057792 0.02930736
+v -0.01644270 -0.00865238 0.02864813
+v -0.01768247 -0.00959680 0.02968984
+v -0.01715857 -0.00762112 0.02781165
+v -0.01771880 -0.01057792 0.02970072
+v -0.01644270 -0.01057786 0.01381686
+v -0.01644270 -0.00774406 0.02677304
+v -0.01836472 -0.00877353 0.02860926
+v -0.01985777 -0.00925603 0.02812261
+v -0.01866355 -0.01057792 0.02930425
+v -0.01772965 -0.00762112 0.02781165
+v -0.01644270 -0.00752980 0.02428846
+v -0.01709892 -0.00757069 0.02677304
+v -0.02006819 -0.01057786 0.01381686
+v -0.01644270 -0.00752976 0.01381687
+v -0.02041095 -0.01057791 0.02681656
+v -0.02000094 -0.01057791 0.02831539
+v -0.02032960 -0.00752979 0.02245846
+v -0.02092237 -0.00752979 0.02098917
+v -0.01784191 -0.00757069 0.02677304
+v -0.01700401 -0.00752980 0.02483109
+v -0.02198263 -0.00752976 0.01381687
+v -0.02041745 -0.01057791 0.02677303
+v -0.01793357 -0.00752980 0.02482021
+v -0.01791567 -0.00752980 0.02483109
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 19
+f 1 19 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 7 9
+f 2 9 3
+f 2 6 8
+f 2 8 15
+f 2 15 7
+f 3 9 14
+f 3 14 21
+f 3 21 20
+f 3 20 27
+f 3 27 18
+f 3 18 10
+f 3 10 5
+f 3 5 4
+f 6 11 8
+f 7 12 13
+f 7 13 14
+f 7 14 9
+f 7 15 12
+f 8 11 16
+f 8 16 17
+f 8 17 24
+f 8 24 15
+f 10 18 26
+f 10 26 19
+f 12 15 13
+f 13 20 21
+f 13 21 14
+f 13 15 22
+f 13 22 23
+f 13 23 20
+f 15 24 22
+f 16 25 17
+f 16 19 26
+f 16 26 23
+f 16 23 22
+f 16 22 28
+f 16 28 29
+f 16 29 25
+f 17 25 29
+f 17 29 24
+f 18 27 26
+f 20 23 27
+f 22 24 28
+f 23 26 27
+f 24 29 28
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_64.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7144975f5e08392fbe5ef18ab784f34208c79d81
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_64.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02793920 0.01964331 0.02172769
+v -0.02793920 0.01964331 0.02310632
+v -0.03090643 0.01964331 0.02273347
+v -0.02793920 0.01965006 0.01381697
+v -0.02793920 0.02064354 0.02310633
+v -0.03194337 0.01964331 0.02310632
+v -0.02846257 0.01968116 0.01381697
+v -0.02793920 0.02422592 0.01381699
+v -0.03043844 0.02660964 0.02304906
+v -0.03043844 0.02608683 0.02310635
+v -0.02793920 0.02631797 0.02236157
+v -0.02846453 0.02656425 0.02250980
+v -0.03082116 0.02465036 0.02310634
+v -0.03198600 0.02660964 0.02246160
+v -0.03210900 0.02465036 0.02257253
+v -0.03294453 0.02465036 0.02098839
+v -0.03180860 0.02149587 0.01381698
+v -0.03171158 0.02115125 0.01381698
+v -0.03057075 0.02021070 0.01381697
+v -0.03057320 0.02456633 0.01381699
+v -0.02925987 0.02575652 0.01589857
+v -0.02897026 0.02787801 0.01953338
+v -0.02793920 0.02676683 0.01893956
+v -0.03043844 0.02784102 0.02225881
+v -0.03161749 0.02773175 0.02212331
+v -0.02912413 0.02778218 0.02218969
+v -0.02793920 0.02658778 0.02217878
+v -0.03270735 0.02660964 0.02098840
+v -0.03265491 0.02465037 0.01906049
+v -0.03184830 0.02279617 0.01381698
+v -0.03162435 0.02395695 0.01381699
+v -0.03173608 0.02781917 0.01962796
+v -0.03043844 0.02797803 0.01935878
+v -0.03043844 0.02822934 0.02098840
+v -0.02884579 0.02795029 0.02098840
+v -0.02793920 0.02722827 0.02098840
+v -0.02793920 0.02721566 0.02088291
+v -0.03180272 0.02786875 0.02098840
+v -0.03216487 0.02665251 0.01901503
+v -0.03178998 0.02332571 0.01381699
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 8
+f 1 8 23
+f 1 23 37
+f 1 37 36
+f 1 36 27
+f 1 27 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 13
+f 2 13 6
+f 3 6 4
+f 4 7 19
+f 4 19 18
+f 4 18 17
+f 4 17 30
+f 4 30 40
+f 4 40 31
+f 4 31 20
+f 4 20 8
+f 4 6 7
+f 5 9 10
+f 5 11 12
+f 5 12 9
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 9 24 25
+f 9 25 14
+f 9 14 10
+f 9 12 26
+f 9 26 24
+f 10 14 13
+f 11 27 26
+f 11 26 12
+f 14 25 28
+f 14 28 16
+f 14 16 15
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 24 26 34
+f 24 34 25
+f 25 34 38
+f 25 38 28
+f 26 27 36
+f 26 36 35
+f 26 35 34
+f 28 38 32
+f 28 32 39
+f 28 39 31
+f 28 31 40
+f 28 40 29
+f 29 40 30
+f 31 39 32
+f 32 38 34
+f 32 34 33
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_65.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f6cd4e0f70276904f45475ec51ddedbb9cd4ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_65.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.02114085 0.00343975 0.02209460
+v -0.02114085 0.00343972 0.02880489
+v -0.02114085 0.00471327 0.02209461
+v -0.01023487 0.00343975 0.02209460
+v -0.02070316 0.00343972 0.02916722
+v -0.02114085 0.00444108 0.02834998
+v -0.02114085 0.00487130 0.02677265
+v -0.02055904 0.00521860 0.02677265
+v -0.01545621 0.00609519 0.02209461
+v -0.01023487 0.00609519 0.02209461
+v -0.01023487 0.00343972 0.03006579
+v -0.02037863 0.00343972 0.02943534
+v -0.02114085 0.00479904 0.02738941
+v -0.01958438 0.00408051 0.02966884
+v -0.02037009 0.00456065 0.02870265
+v -0.01385383 0.00609516 0.02979204
+v -0.01441963 0.00609516 0.02933551
+v -0.01496514 0.00609516 0.02874774
+v -0.01513274 0.00609517 0.02791036
+v -0.01521387 0.00609517 0.02673400
+v -0.01023487 0.00609516 0.03017289
+v -0.01023487 0.00348989 0.03007948
+v -0.01028398 0.00343972 0.03006740
+v -0.01973597 0.00343972 0.02971313
+v -0.01023487 0.00505404 0.03031943
+v -0.01262296 0.00609516 0.03003440
+v -0.01036618 0.00609516 0.03017852
+v -0.01232939 0.00343972 0.02999413
+v -0.01062453 0.00609516 0.03018819
+f 1 2 6
+f 1 6 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 23
+f 1 23 28
+f 1 28 24
+f 1 24 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 21
+f 4 21 25
+f 4 25 22
+f 4 22 11
+f 5 12 6
+f 6 12 14
+f 6 14 15
+f 6 15 8
+f 6 8 13
+f 7 13 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 19
+f 9 19 18
+f 9 18 17
+f 9 17 16
+f 9 16 26
+f 9 26 29
+f 9 29 27
+f 9 27 21
+f 9 21 10
+f 11 22 23
+f 12 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 16
+f 14 16 15
+f 21 27 25
+f 22 25 28
+f 22 28 23
+f 24 28 25
+f 25 27 29
+f 25 29 26
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_66.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4a7457f0c5c60df8d77fbfd55558c47fe5b5cef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_66.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.01660867 0.02421535 0.02484619
+v -0.01794478 0.02389269 0.02677195
+v -0.01664680 0.02401173 0.02694337
+v -0.01523444 0.02394053 0.02641452
+v -0.01023488 0.02289803 0.02648964
+v -0.01524484 0.02393053 0.02484619
+v -0.01550825 0.02374472 0.02378848
+v -0.01660867 0.02379701 0.02372794
+v -0.01773682 0.02376364 0.02376952
+v -0.02648650 0.02244522 0.02484545
+v -0.01761725 0.02368241 0.02774869
+v -0.02664593 0.02224494 0.02694263
+v -0.01601600 0.02363457 0.02769982
+v -0.01733131 0.02368241 0.02774869
+v -0.01023488 0.02284686 0.02501979
+v -0.01023488 0.02231726 0.02732268
+v -0.01023488 0.02279680 0.02490162
+v -0.01023488 0.02108119 0.02209395
+v -0.01595535 0.02260544 0.02209395
+v -0.01660867 0.02256984 0.02209395
+v -0.02648650 0.02190784 0.02361341
+v -0.02750201 0.02173427 0.02385631
+v -0.02775675 0.02193009 0.02484545
+v -0.02782260 0.02198015 0.02641305
+v -0.01664680 0.02286465 0.02808277
+v -0.02609312 0.02188558 0.02789822
+v -0.02741016 0.02166751 0.02769835
+v -0.01023488 0.02178544 0.02797627
+v -0.01023488 0.02197013 0.02781944
+v -0.01023488 0.01704805 0.02209393
+v -0.01797771 0.02220380 0.02209395
+v -0.02648650 0.02112681 0.02270086
+v -0.02652809 0.02111123 0.02270086
+v -0.02784340 0.02053046 0.02270086
+v -0.02793698 0.02052267 0.02281684
+v -0.02793698 0.02095435 0.02339676
+v -0.02793698 0.02178990 0.02484545
+v -0.02793698 0.02187890 0.02621756
+v -0.02793698 0.02184997 0.02650642
+v -0.02793698 0.02145723 0.02732414
+v -0.01265927 0.01877254 0.02932137
+v -0.01023488 0.02121357 0.02820021
+v -0.02664593 0.02090093 0.02818052
+v -0.02793698 0.02098660 0.02784716
+v -0.01023488 0.01692455 0.02495850
+v -0.01076343 0.01609901 0.02209393
+v -0.02114034 0.01921760 0.02209394
+v -0.02793698 0.02035245 0.02270085
+v -0.01660867 0.01467376 0.02954602
+v -0.01556544 0.01467376 0.02941691
+v -0.01473535 0.01467376 0.02922871
+v -0.01023488 0.01864015 0.02838402
+v -0.01023488 0.01896280 0.02843727
+v -0.01023488 0.02081415 0.02827899
+v -0.02459585 0.01285022 0.02940451
+v -0.02793698 0.02048037 0.02804776
+v -0.01023488 0.01693455 0.02684341
+v -0.01129371 0.01521228 0.02209393
+v -0.02114034 0.01480952 0.02209392
+v -0.02793698 0.01631152 0.02270084
+v -0.02253017 0.01285022 0.02895371
+v -0.01306305 0.01467377 0.02841829
+v -0.01119666 0.01681328 0.02815351
+v -0.01023488 0.01753201 0.02775522
+v -0.02793698 0.01915305 0.02811996
+v -0.02514866 0.01285022 0.02922287
+v -0.01164723 0.01581640 0.02775814
+v -0.01290535 0.01467377 0.02818559
+v -0.01199555 0.01486182 0.02209392
+v -0.02465477 0.01285024 0.02505696
+v -0.01274592 0.01467379 0.02209392
+v -0.02601340 0.01285023 0.02675222
+v -0.02793698 0.01657742 0.02475863
+v -0.02221304 0.01285022 0.02873414
+v -0.02793698 0.01863570 0.02811486
+v -0.02562522 0.01285022 0.02871153
+v -0.01255183 0.01467379 0.02209392
+v -0.02166716 0.01285023 0.02675294
+v -0.02257522 0.01285024 0.02568794
+v -0.02572920 0.01285023 0.02819216
+v -0.02793698 0.01691341 0.02691489
+v -0.02793698 0.01772338 0.02774429
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 12
+f 2 12 11
+f 3 13 4
+f 3 11 14
+f 3 14 13
+f 4 13 5
+f 5 15 6
+f 5 13 16
+f 5 16 29
+f 5 29 28
+f 5 28 42
+f 5 42 54
+f 5 54 53
+f 5 53 52
+f 5 52 64
+f 5 64 57
+f 5 57 45
+f 5 45 30
+f 5 30 18
+f 5 18 17
+f 5 17 15
+f 6 15 7
+f 7 15 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 20 9
+f 8 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 12
+f 11 25 14
+f 11 12 26
+f 11 26 25
+f 12 24 27
+f 12 27 26
+f 13 14 25
+f 13 25 28
+f 13 28 29
+f 13 29 16
+f 18 30 46
+f 18 46 58
+f 18 58 69
+f 18 69 77
+f 18 77 71
+f 18 71 59
+f 18 59 47
+f 18 47 31
+f 18 31 20
+f 18 20 19
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 27
+f 25 41 42
+f 25 42 28
+f 25 26 43
+f 25 43 41
+f 26 27 43
+f 27 40 44
+f 27 44 43
+f 30 45 46
+f 31 47 34
+f 31 34 33
+f 31 33 32
+f 34 48 35
+f 34 47 48
+f 35 48 60
+f 35 60 73
+f 35 73 81
+f 35 81 82
+f 35 82 75
+f 35 75 65
+f 35 65 56
+f 35 56 44
+f 35 44 40
+f 35 40 39
+f 35 39 38
+f 35 38 37
+f 35 37 36
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 41 43 55
+f 41 55 49
+f 43 44 56
+f 43 56 55
+f 45 57 58
+f 45 58 46
+f 47 59 60
+f 47 60 48
+f 49 55 50
+f 50 55 61
+f 50 61 51
+f 51 61 62
+f 51 62 52
+f 52 62 63
+f 52 63 64
+f 55 56 65
+f 55 65 66
+f 55 66 76
+f 55 76 80
+f 55 80 72
+f 55 72 70
+f 55 70 79
+f 55 79 78
+f 55 78 74
+f 55 74 61
+f 57 64 67
+f 57 67 68
+f 57 68 58
+f 58 68 69
+f 59 70 60
+f 59 71 70
+f 60 72 73
+f 60 70 72
+f 61 74 62
+f 62 74 68
+f 62 68 67
+f 62 67 64
+f 62 64 63
+f 65 75 66
+f 66 75 76
+f 68 77 69
+f 68 74 78
+f 68 78 77
+f 70 71 77
+f 70 77 79
+f 72 80 81
+f 72 81 73
+f 75 82 76
+f 76 82 81
+f 76 81 80
+f 77 78 79
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_67.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f56e22f35731ef430ecfb5e8c5c35ee858875c0a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_67.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.03029613 0.02189766 0.01381698
+v 0.03031984 0.02189766 0.01456311
+v 0.03410240 0.02189766 0.01381698
+v 0.03049097 0.02097504 0.01381698
+v 0.02682101 0.01699413 0.01574174
+v 0.02659802 0.01699413 0.01606597
+v 0.02659802 0.01754616 0.01731041
+v 0.02659802 0.01816299 0.01882460
+v 0.02659802 0.01882015 0.02060388
+v 0.03095768 0.02189765 0.01638225
+v 0.02686101 0.01896320 0.02060388
+v 0.02690101 0.01898480 0.02060388
+v 0.03416611 0.02189765 0.01520492
+v 0.03405944 0.02092799 0.01381698
+v 0.03065320 0.02066734 0.01381698
+v 0.02759589 0.01699413 0.01620350
+v 0.03278081 0.02001065 0.01381697
+v 0.02659802 0.01699411 0.02060387
+v 0.03120140 0.02189765 0.01692706
+v 0.02732624 0.01897136 0.02060388
+v 0.03278081 0.02189765 0.01767518
+v 0.03273265 0.02189765 0.01767253
+v 0.03396758 0.02189765 0.01661213
+v 0.03401573 0.02136289 0.01520492
+v 0.03281266 0.02002794 0.01381697
+v 0.02988795 0.01699411 0.02060387
+v 0.02986943 0.01699412 0.01962121
+v 0.02883822 0.01699413 0.01714763
+v 0.02913233 0.01699412 0.01770573
+v 0.02882044 0.01866366 0.02060388
+v 0.02929308 0.01824987 0.02060388
+v 0.02986276 0.01715876 0.02060387
+v 0.03386757 0.02160387 0.01641680
+v 0.02961311 0.01699412 0.01872891
+f 1 2 10
+f 1 10 19
+f 1 19 22
+f 1 22 21
+f 1 21 23
+f 1 23 13
+f 1 13 3
+f 1 3 14
+f 1 14 25
+f 1 25 17
+f 1 17 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 12
+f 2 12 10
+f 3 13 14
+f 4 15 5
+f 5 16 28
+f 5 28 29
+f 5 29 34
+f 5 34 27
+f 5 27 26
+f 5 26 18
+f 5 18 6
+f 5 15 17
+f 5 17 16
+f 6 18 9
+f 6 9 8
+f 6 8 7
+f 9 18 26
+f 9 26 32
+f 9 32 31
+f 9 31 30
+f 9 30 20
+f 9 20 12
+f 9 12 11
+f 10 12 19
+f 12 20 21
+f 12 21 22
+f 12 22 19
+f 13 23 24
+f 13 24 14
+f 14 24 26
+f 14 26 27
+f 14 27 25
+f 16 17 28
+f 17 25 29
+f 17 29 28
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 26
+f 21 26 23
+f 23 26 33
+f 23 33 24
+f 24 33 26
+f 25 27 34
+f 25 34 29
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_68.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6e8c895a5efe5ea631e683e821031619394d40e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_68.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03680603 -0.00143643 0.01381689
+v 0.03493527 -0.00143643 0.01463779
+v 0.04021488 -0.00343860 0.01585142
+v 0.04079382 -0.00276205 0.01381689
+v -0.00178869 -0.00143643 0.01381689
+v 0.03273183 -0.00143643 0.01495504
+v 0.03487910 -0.00234587 0.01585142
+v 0.04045682 -0.00364847 0.01585142
+v 0.04187394 -0.00380166 0.01381689
+v -0.00178869 -0.01048203 0.01381686
+v -0.00178869 -0.00143644 0.01542424
+v 0.02412114 -0.00143644 0.01585142
+v 0.04113514 -0.00440559 0.01585141
+v 0.04177457 -0.00542483 0.01585141
+v 0.04234487 -0.00494044 0.01381688
+v -0.00178869 -0.01048204 0.01585139
+v 0.03741954 -0.01048203 0.01381686
+v -0.00089868 -0.00143644 0.01558456
+v -0.00178869 -0.00652022 0.01585141
+v 0.00645044 -0.00143644 0.01585142
+v 0.04176593 -0.00617664 0.01585141
+v 0.04234487 -0.00504759 0.01381688
+v 0.03707822 -0.01048204 0.01585139
+v 0.04036178 -0.00821155 0.01381687
+v -0.00019876 -0.00345189 0.01585142
+v 0.00129612 -0.00143644 0.01574587
+v 0.00116219 -0.00256902 0.01585142
+v 0.04228006 -0.00638295 0.01381688
+v 0.04116970 -0.00708075 0.01585140
+v 0.04023216 -0.00791492 0.01585140
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 28
+f 1 28 24
+f 1 24 17
+f 1 17 10
+f 1 10 5
+f 1 5 11
+f 1 11 18
+f 1 18 26
+f 1 26 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 12
+f 3 12 20
+f 3 20 27
+f 3 27 25
+f 3 25 19
+f 3 19 16
+f 3 16 23
+f 3 23 30
+f 3 30 29
+f 3 29 21
+f 3 21 14
+f 3 14 13
+f 3 13 8
+f 4 8 9
+f 5 10 16
+f 5 16 19
+f 5 19 11
+f 6 12 7
+f 8 13 9
+f 9 14 15
+f 9 13 14
+f 10 17 23
+f 10 23 16
+f 11 19 18
+f 14 21 22
+f 14 22 15
+f 17 24 23
+f 18 19 25
+f 18 25 26
+f 20 26 27
+f 21 28 22
+f 21 29 28
+f 23 24 30
+f 24 28 29
+f 24 29 30
+f 25 27 26
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_69.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f0ccb945c9a62a36936c51ae6da6ff48ef356d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_69.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01907627 -0.02622682 0.02286243
+v 0.01907627 -0.02618083 0.02315382
+v 0.01907627 -0.02621276 0.02283801
+v 0.01908877 -0.02626068 0.02283801
+v 0.01907627 -0.02587863 0.02485612
+v 0.01907627 -0.02145371 0.02283803
+v 0.02022700 -0.02713723 0.02283801
+v 0.01907627 -0.02514648 0.02610912
+v 0.02093103 -0.02763300 0.02283801
+v 0.02105313 -0.02770520 0.02283801
+v 0.02172439 -0.02736149 0.02396618
+v 0.01907627 -0.02137577 0.02297073
+v 0.01907924 -0.02137577 0.02283803
+v 0.01907627 -0.02435427 0.02678169
+v 0.02217587 -0.02736149 0.02396618
+v 0.02268275 -0.02790133 0.02283801
+v 0.01907627 -0.02137578 0.02554170
+v 0.01926329 -0.02137577 0.02283803
+v 0.02286203 -0.02635907 0.02432058
+v 0.01907627 -0.02419263 0.02686084
+v 0.02286501 -0.02790005 0.02283801
+v 0.02349279 -0.02705226 0.02361100
+v 0.01919837 -0.02137578 0.02491796
+v 0.01907627 -0.02245742 0.02660529
+v 0.02397881 -0.02327518 0.02395792
+v 0.02282212 -0.02210537 0.02283803
+v 0.02413129 -0.02574575 0.02410362
+v 0.01907627 -0.02253153 0.02662695
+v 0.02413725 -0.02434020 0.02410559
+v 0.02308896 -0.02775758 0.02283801
+v 0.02489190 -0.02629006 0.02283801
+v 0.02498720 -0.02402969 0.02283802
+v 0.02433321 -0.02305284 0.02291718
+v 0.02516112 -0.02431719 0.02283802
+v 0.02436120 -0.02304070 0.02283803
+v 0.02491394 -0.02617826 0.02283801
+v 0.02516052 -0.02434275 0.02283802
+f 1 2 5
+f 1 5 8
+f 1 8 14
+f 1 14 20
+f 1 20 28
+f 1 28 24
+f 1 24 17
+f 1 17 12
+f 1 12 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 13
+f 3 13 18
+f 3 18 26
+f 3 26 35
+f 3 35 32
+f 3 32 34
+f 3 34 37
+f 3 37 36
+f 3 36 31
+f 3 31 30
+f 3 30 21
+f 3 21 16
+f 3 16 10
+f 3 10 9
+f 3 9 7
+f 3 7 4
+f 4 7 5
+f 5 7 9
+f 5 9 10
+f 5 10 11
+f 5 11 8
+f 6 12 13
+f 8 11 15
+f 8 15 14
+f 10 16 11
+f 11 16 15
+f 12 17 23
+f 12 23 18
+f 12 18 13
+f 14 15 19
+f 14 19 20
+f 15 16 21
+f 15 21 22
+f 15 22 19
+f 17 24 25
+f 17 25 26
+f 17 26 23
+f 18 23 26
+f 19 22 27
+f 19 27 20
+f 20 27 29
+f 20 29 28
+f 21 30 22
+f 22 31 27
+f 22 30 31
+f 24 28 25
+f 25 32 33
+f 25 33 26
+f 25 28 29
+f 25 29 34
+f 25 34 32
+f 26 33 35
+f 27 31 36
+f 27 36 37
+f 27 37 34
+f 27 34 29
+f 32 35 33
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_7.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32d3956c0b9bb785c47c157218120512aa42733b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_7.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02351921 0.02587359 0.01381700
+v 0.02466291 0.02582444 0.01381699
+v 0.02353419 0.02585720 0.01374467
+v 0.01828182 0.02193736 0.01142597
+v 0.01828182 0.02195101 0.01381698
+v 0.02487933 0.02581079 0.01381699
+v 0.03289025 0.02415804 0.01142598
+v 0.02487933 0.02462037 0.01142598
+v 0.02276673 0.02423176 0.01142598
+v 0.01828182 0.01657772 0.01142595
+v 0.01828182 0.01657771 0.01381696
+v 0.03288192 0.02449568 0.01381699
+v 0.03297848 0.02413892 0.01142598
+v 0.03060118 0.01657772 0.01142595
+v 0.02540374 0.01657771 0.01381696
+v 0.03388579 0.02399148 0.01381699
+v 0.03406891 0.02383495 0.01142598
+v 0.03278037 0.01738863 0.01142595
+v 0.03278037 0.02001156 0.01381697
+v 0.03396736 0.02393505 0.01381699
+v 0.03483304 0.02291300 0.01142597
+v 0.03454836 0.01897495 0.01142596
+v 0.03405892 0.02092895 0.01381698
+v 0.03281200 0.02002885 0.01381697
+v 0.03424205 0.02278558 0.01381698
+v 0.03528919 0.02073147 0.01142597
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 15
+f 1 15 19
+f 1 19 24
+f 1 24 23
+f 1 23 25
+f 1 25 20
+f 1 20 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 8
+f 4 8 7
+f 4 7 13
+f 4 13 17
+f 4 17 21
+f 4 21 26
+f 4 26 22
+f 4 22 18
+f 4 18 14
+f 4 14 10
+f 6 12 7
+f 7 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 21
+f 21 25 26
+f 22 26 23
+f 23 26 25
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_70.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2646e6030af59472014d354f5c423c3dab3e7892
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_70.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03666055 -0.01098939 0.02283769
+v 0.03696307 -0.01258477 0.02283768
+v 0.03718828 -0.01258477 0.02098854
+v 0.03715467 -0.01240470 0.01888398
+v 0.03662358 -0.01098938 0.01888399
+v 0.02435131 -0.01098939 0.02283769
+v 0.03722526 -0.01446488 0.02283768
+v 0.03717820 -0.01258476 0.01906123
+v 0.03715467 -0.01258476 0.01888398
+v 0.02174291 -0.01098938 0.01888399
+v 0.02332610 -0.01098939 0.02274790
+v 0.01171602 -0.01327777 0.02283768
+v 0.03595803 -0.02042345 0.02283765
+v 0.03577652 -0.02107876 0.02283765
+v 0.03510425 -0.01846167 0.01888396
+v 0.02253619 -0.01098939 0.02082562
+v 0.01302695 -0.01129925 0.01888399
+v 0.02317820 -0.01098939 0.02239572
+v 0.01140006 -0.01149605 0.01888399
+v 0.01162863 -0.01329661 0.02283768
+v 0.03482862 -0.02209838 0.02283765
+v 0.03013282 -0.02750631 0.02098849
+v 0.03013282 -0.02750630 0.01955849
+v 0.03060005 -0.02639875 0.01897410
+v 0.03441853 -0.02005495 0.01888396
+v 0.03448576 -0.01994189 0.01888396
+v 0.00288577 -0.01437903 0.01888398
+v 0.00661350 -0.01358553 0.01998115
+v 0.00586056 -0.01521441 0.02283767
+v 0.02992106 -0.02735348 0.02204077
+v 0.02882862 -0.02582301 0.02283764
+v 0.02882862 -0.02629827 0.02277300
+v 0.02303366 -0.03160989 0.01891758
+v 0.02307400 -0.03159314 0.01888391
+v 0.02944375 -0.02730112 0.01888393
+v 0.03057316 -0.02636525 0.01888393
+v 0.00288577 -0.03168735 0.01888391
+v 0.00288577 -0.01458421 0.01936194
+v 0.00288577 -0.01519766 0.02062281
+v 0.00288577 -0.01634080 0.02283767
+v 0.02286560 -0.02789783 0.02283763
+v 0.02246224 -0.03149683 0.02037080
+v 0.02092610 -0.03201396 0.01906116
+v 0.02303030 -0.03160779 0.01888391
+v 0.00710090 -0.03226311 0.01888391
+v 0.00710090 -0.03223589 0.01906116
+v 0.00581350 -0.03140889 0.02017497
+v 0.00288577 -0.02778896 0.02283763
+v 0.02092610 -0.03154708 0.02042537
+v 0.01105048 -0.02821397 0.02283763
+v 0.02092610 -0.03197837 0.01888391
+v 0.01500342 -0.03225892 0.01906116
+v 0.01500342 -0.03227567 0.01888391
+v 0.01105048 -0.03237826 0.01888391
+v 0.01105048 -0.03234057 0.01906116
+v 0.00301351 -0.02780152 0.02283763
+v 0.00710090 -0.03142774 0.02018736
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 18
+f 1 18 11
+f 1 11 6
+f 1 6 12
+f 1 12 20
+f 1 20 29
+f 1 29 40
+f 1 40 48
+f 1 48 56
+f 1 56 50
+f 1 50 41
+f 1 41 31
+f 1 31 21
+f 1 21 14
+f 1 14 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 9 15
+f 4 15 26
+f 4 26 25
+f 4 25 36
+f 4 36 35
+f 4 35 34
+f 4 34 44
+f 4 44 51
+f 4 51 53
+f 4 53 54
+f 4 54 45
+f 4 45 37
+f 4 37 27
+f 4 27 19
+f 4 19 17
+f 4 17 10
+f 4 10 5
+f 4 8 9
+f 6 11 12
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 10 17 16
+f 11 18 17
+f 11 17 19
+f 11 19 12
+f 12 19 20
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 16 17 18
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 21 30 22
+f 21 31 32
+f 21 32 30
+f 22 30 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 24 36 25
+f 27 37 48
+f 27 48 40
+f 27 40 39
+f 27 39 38
+f 27 38 28
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 30 32 41
+f 30 41 42
+f 30 42 33
+f 31 41 32
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 41 49 42
+f 41 50 49
+f 42 49 43
+f 43 51 44
+f 43 49 52
+f 43 52 53
+f 43 53 51
+f 45 54 46
+f 46 54 55
+f 46 55 47
+f 47 56 48
+f 47 55 57
+f 47 57 49
+f 47 49 50
+f 47 50 56
+f 49 57 55
+f 49 55 52
+f 52 55 54
+f 52 54 53
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_71.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c67a00c4f183f28a70d518a1702cffb6998d46d4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_71.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01595449 0.02260647 0.02209387
+v -0.01111122 0.02387547 0.01727649
+v -0.01203509 0.02387547 0.01765566
+v -0.01265771 0.02387546 0.01789143
+v -0.01660853 0.02257082 0.02209387
+v -0.01023487 0.02108203 0.02209387
+v -0.01071252 0.02387547 0.01608552
+v -0.01438061 0.02387547 0.01712094
+v -0.01797701 0.02220487 0.02209387
+v -0.01023487 0.01704817 0.02209385
+v -0.01023487 0.02128998 0.01916260
+v -0.01028723 0.02387548 0.01381699
+v -0.01520782 0.02387548 0.01381699
+v -0.01822832 0.02185316 0.02209387
+v -0.01041047 0.01673092 0.02209385
+v -0.01058606 0.01173703 0.01381694
+v -0.01023487 0.01681528 0.02165067
+v -0.01023487 0.02095967 0.01713389
+v -0.01023487 0.02091571 0.01692081
+v -0.01023487 0.02054024 0.01524696
+v -0.01023487 0.02013509 0.01400817
+v -0.01023487 0.02002696 0.01381697
+v -0.01846351 0.02145988 0.02209387
+v -0.01829678 0.01808666 0.01381697
+v -0.01076245 0.01609881 0.02209385
+v -0.01023487 0.01277312 0.01381695
+v -0.01023487 0.01665963 0.02135333
+v -0.01129245 0.01521124 0.02209385
+v -0.01160900 0.01382108 0.02013885
+v -0.01437094 0.01173700 0.02209383
+v -0.01829678 0.01173703 0.01381694
+v -0.01846351 0.02110223 0.02162396
+v -0.01846351 0.02110580 0.02209387
+v -0.01828953 0.01173700 0.02209383
+v -0.01829678 0.01173703 0.01420583
+v -0.01846351 0.02110223 0.02174792
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 23
+f 1 23 33
+f 1 33 34
+f 1 34 30
+f 1 30 28
+f 1 28 25
+f 1 25 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 7 12
+f 2 12 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 2 6 7
+f 4 8 5
+f 5 8 9
+f 6 10 17
+f 6 17 27
+f 6 27 26
+f 6 26 22
+f 6 22 21
+f 6 21 20
+f 6 20 19
+f 6 19 18
+f 6 18 11
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 10 16 17
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 26
+f 12 26 16
+f 12 16 31
+f 12 31 24
+f 12 24 13
+f 13 23 14
+f 13 24 23
+f 15 25 16
+f 16 26 27
+f 16 27 17
+f 16 25 28
+f 16 28 29
+f 16 29 30
+f 16 30 34
+f 16 34 35
+f 16 35 31
+f 23 24 32
+f 23 32 36
+f 23 36 33
+f 24 31 32
+f 28 30 29
+f 31 35 36
+f 31 36 32
+f 33 36 35
+f 33 35 34
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_72.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86364687b1f008112c3764b9903ce32c8bc8b573
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_72.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.02456524 0.00652653 0.02092950
+v -0.02586205 0.00741851 0.02092951
+v -0.02455848 0.00652715 0.02092950
+v -0.02338831 0.00792793 0.02789866
+v -0.02395398 0.00792793 0.02789866
+v -0.02605117 0.00935224 0.02870108
+v -0.02615642 0.00890473 0.02092951
+v -0.02619582 0.00919131 0.02677272
+v -0.02689094 0.01093256 0.02677273
+v -0.02252715 0.00710592 0.02092951
+v -0.02131027 0.00968589 0.02813585
+v -0.02257162 0.00898827 0.02866018
+v -0.02307199 0.00959737 0.02989154
+v -0.02451120 0.00953361 0.02993516
+v -0.02457143 0.00847512 0.02860475
+v -0.02661064 0.01093255 0.02870109
+v -0.02566955 0.00974902 0.02979794
+v -0.02615304 0.00897840 0.02092951
+v -0.02605848 0.01256858 0.02870110
+v -0.02619357 0.01272953 0.02677274
+v -0.02580745 0.01031730 0.02092952
+v -0.02246355 0.00719319 0.02092951
+v -0.02114141 0.00997806 0.02788322
+v -0.02114141 0.01002635 0.02818946
+v -0.02167950 0.00858533 0.02153927
+v -0.02114141 0.01102107 0.02879014
+v -0.02183597 0.01093255 0.02936265
+v -0.02282377 0.01093255 0.03001059
+v -0.02451120 0.01093255 0.03021233
+v -0.02576299 0.01093255 0.02986700
+v -0.02568025 0.01213899 0.02980067
+v -0.02562565 0.01285022 0.02871200
+v -0.02572978 0.01285023 0.02819311
+v -0.02601402 0.01285023 0.02675275
+v -0.02586092 0.01235318 0.02521425
+v -0.02579676 0.01034329 0.02092952
+v -0.02148588 0.00889978 0.02092951
+v -0.02114141 0.01000344 0.02680636
+v -0.02114141 0.01165617 0.02873653
+v -0.02304160 0.01229374 0.02989882
+v -0.02451120 0.01236802 0.02994153
+v -0.02459620 0.01285022 0.02940446
+v -0.02515004 0.01285022 0.02922272
+v -0.02465642 0.01285024 0.02505704
+v -0.02451571 0.01104958 0.02092952
+v -0.02145830 0.00904153 0.02092951
+v -0.02114141 0.01087748 0.02548595
+v -0.02145098 0.00908239 0.02092951
+v -0.02114141 0.01246769 0.02839576
+v -0.02221364 0.01285022 0.02873472
+v -0.02252997 0.01285022 0.02895373
+v -0.02332528 0.01204801 0.02337313
+v -0.02443860 0.01105577 0.02092952
+v -0.02257556 0.01285024 0.02568680
+v -0.02114141 0.01211919 0.02614661
+v -0.02153372 0.00923033 0.02092951
+v -0.02152134 0.00996818 0.02186552
+v -0.02114141 0.01253702 0.02684363
+v -0.02166711 0.01285023 0.02675275
+v -0.02239882 0.01055066 0.02092952
+v -0.02212528 0.01019350 0.02092952
+f 1 2 7
+f 1 7 18
+f 1 18 21
+f 1 21 36
+f 1 36 45
+f 1 45 53
+f 1 53 60
+f 1 60 61
+f 1 61 56
+f 1 56 48
+f 1 48 46
+f 1 46 37
+f 1 37 22
+f 1 22 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 10 11
+f 5 15 6
+f 6 16 9
+f 6 9 8
+f 6 15 17
+f 6 17 16
+f 7 9 18
+f 9 16 19
+f 9 19 20
+f 9 20 21
+f 9 21 18
+f 10 22 11
+f 11 23 24
+f 11 24 13
+f 11 13 12
+f 11 22 25
+f 11 25 23
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 13 24 26
+f 14 29 17
+f 14 17 15
+f 16 17 30
+f 16 30 31
+f 16 31 19
+f 17 29 30
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 22 37 25
+f 23 38 47
+f 23 47 55
+f 23 55 58
+f 23 58 49
+f 23 49 39
+f 23 39 26
+f 23 26 24
+f 23 25 37
+f 23 37 38
+f 26 39 27
+f 27 40 28
+f 27 39 40
+f 28 40 29
+f 29 40 41
+f 29 41 31
+f 29 31 30
+f 31 42 43
+f 31 43 32
+f 31 41 42
+f 32 43 42
+f 32 42 51
+f 32 51 50
+f 32 50 59
+f 32 59 54
+f 32 54 44
+f 32 44 34
+f 32 34 33
+f 34 44 35
+f 35 44 45
+f 35 45 36
+f 37 46 38
+f 38 46 48
+f 38 48 47
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 42
+f 40 42 41
+f 44 52 53
+f 44 53 45
+f 44 54 52
+f 47 48 55
+f 48 56 57
+f 48 57 55
+f 49 58 59
+f 49 59 50
+f 52 60 53
+f 52 54 60
+f 54 59 60
+f 55 57 61
+f 55 61 60
+f 55 60 58
+f 56 61 57
+f 58 60 59
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_73.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79088e47558b8c4cff1f2eae8f9a2961fc4d76ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_73.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01491394 0.01699366 0.01381696
+v 0.01491394 0.02337500 0.01381699
+v 0.02132728 0.01699366 0.01381696
+v 0.01491394 0.01699360 0.02873065
+v 0.01501691 0.02477885 0.01381699
+v 0.01491394 0.02450066 0.01541231
+v 0.02132728 0.02280950 0.01381698
+v 0.02132728 0.01699360 0.02892634
+v 0.02092735 0.01699360 0.02894043
+v 0.01742214 0.02122191 0.02981092
+v 0.01742214 0.02216010 0.02981092
+v 0.01491394 0.02070367 0.02847235
+v 0.01662040 0.02477885 0.01381699
+v 0.01491394 0.02477884 0.01701077
+v 0.01690167 0.02468511 0.01381699
+v 0.01696759 0.02477885 0.01382012
+v 0.02132728 0.02477197 0.01889572
+v 0.02132728 0.01877242 0.02890600
+v 0.01837332 0.02216010 0.02981092
+v 0.01837332 0.02122191 0.02981092
+v 0.01697638 0.02408907 0.02833772
+v 0.01684893 0.02276447 0.02933968
+v 0.01491394 0.02074026 0.02845513
+v 0.01554868 0.02269056 0.02837372
+v 0.01491394 0.02477881 0.02538973
+v 0.01939669 0.02477882 0.02116737
+v 0.02132728 0.02447016 0.02044251
+v 0.01961455 0.02477882 0.02276739
+v 0.01961706 0.02477882 0.02280966
+v 0.01912609 0.02477881 0.02496860
+v 0.01895155 0.02458065 0.02677214
+v 0.02005717 0.02379032 0.02791501
+v 0.01899990 0.02276447 0.02924261
+v 0.02132728 0.02058097 0.02835806
+v 0.01895155 0.02404410 0.02827353
+v 0.01580484 0.02384976 0.02800112
+v 0.01705800 0.02477880 0.02724181
+v 0.01570501 0.02477880 0.02647625
+v 0.01491394 0.02463248 0.02552751
+v 0.01504704 0.02477881 0.02557291
+v 0.02132728 0.02145285 0.02677213
+v 0.01908214 0.02477881 0.02507036
+v 0.01833251 0.02477880 0.02672048
+v 0.02030517 0.02269056 0.02825160
+f 1 2 5
+f 1 5 13
+f 1 13 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 12
+f 1 12 23
+f 1 23 39
+f 1 39 25
+f 1 25 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 17
+f 3 17 27
+f 3 27 41
+f 3 41 34
+f 3 34 18
+f 3 18 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 6 14
+f 5 14 25
+f 5 25 40
+f 5 40 38
+f 5 38 37
+f 5 37 43
+f 5 43 42
+f 5 42 30
+f 5 30 29
+f 5 29 28
+f 5 28 26
+f 5 26 16
+f 5 16 13
+f 7 15 16
+f 7 16 17
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 10
+f 10 20 19
+f 10 19 11
+f 11 19 21
+f 11 21 22
+f 11 22 12
+f 12 22 24
+f 12 24 23
+f 13 16 15
+f 16 26 17
+f 17 26 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 27
+f 18 33 19
+f 18 34 33
+f 19 33 35
+f 19 35 21
+f 21 36 22
+f 21 35 37
+f 21 37 38
+f 21 38 36
+f 22 36 24
+f 23 24 39
+f 24 36 39
+f 25 39 36
+f 25 36 40
+f 27 32 41
+f 30 42 31
+f 31 43 35
+f 31 35 32
+f 31 42 43
+f 32 35 33
+f 32 33 44
+f 32 44 34
+f 32 34 41
+f 33 34 44
+f 35 43 37
+f 36 38 40
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_74.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..661b257f74f985e72880c68b31d07d175bc74267
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_74.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03777403 -0.01311589 0.02677287
+v 0.03781626 -0.01343435 0.02786758
+v 0.03791351 -0.01327263 0.02677287
+v 0.03788152 -0.01330497 0.02533272
+v 0.03772413 -0.01311588 0.02560028
+v 0.03727114 -0.01311589 0.02799131
+v 0.03673114 -0.01454276 0.02889634
+v 0.03793654 -0.01454275 0.02802648
+v 0.03824237 -0.01454275 0.02677287
+v 0.03802612 -0.01454274 0.02511918
+v 0.03703825 -0.01311587 0.02283806
+v 0.03768318 -0.01311588 0.02517194
+v 0.03659678 -0.01311589 0.02832104
+v 0.03670810 -0.01651946 0.02837693
+v 0.03791223 -0.01587631 0.02799255
+v 0.03475540 -0.01311590 0.02882474
+v 0.03475540 -0.01454276 0.02925434
+v 0.03804915 -0.01613382 0.02677286
+v 0.03796597 -0.01598453 0.02536600
+v 0.03722379 -0.01446312 0.02283806
+v 0.02517103 -0.01311587 0.02283806
+v 0.03475540 -0.01650330 0.02872173
+v 0.02841999 -0.02158874 0.02788136
+v 0.02973800 -0.02129516 0.02770048
+v 0.03475540 -0.02174673 0.02610584
+v 0.03576886 -0.02143448 0.02584017
+v 0.03590322 -0.02160988 0.02484532
+v 0.02517103 -0.01311590 0.02892649
+v 0.02517103 -0.01435367 0.02912496
+v 0.02517103 -0.01642493 0.02920660
+v 0.03593010 -0.02164471 0.02346044
+v 0.03608365 -0.02041937 0.02308549
+v 0.03595953 -0.02041937 0.02283803
+v 0.02517103 -0.01975881 0.02283804
+v 0.02749226 -0.02158874 0.02788136
+v 0.02883075 -0.02582453 0.02283802
+v 0.03475540 -0.02239609 0.02484532
+v 0.02517103 -0.01862181 0.02819415
+v 0.03484114 -0.02210374 0.02285813
+v 0.03483218 -0.02209752 0.02283803
+v 0.03577782 -0.02107620 0.02283803
+v 0.02517103 -0.02033727 0.02484595
+v 0.02540520 -0.02024645 0.02283804
+v 0.02579804 -0.02147055 0.02380776
+v 0.02567520 -0.02162481 0.02484594
+v 0.02617553 -0.02075402 0.02746684
+v 0.02568032 -0.02162980 0.02618120
+v 0.02684222 -0.02198558 0.02680361
+v 0.02684222 -0.02312381 0.02283803
+v 0.02517103 -0.01889176 0.02793162
+v 0.02517103 -0.02033354 0.02496780
+v 0.02517103 -0.01981107 0.02679232
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 21
+f 1 21 28
+f 1 28 16
+f 1 16 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 7
+f 7 14 15
+f 7 15 8
+f 7 13 16
+f 7 16 17
+f 7 17 14
+f 8 15 9
+f 9 18 19
+f 9 19 10
+f 9 15 18
+f 10 19 20
+f 10 20 11
+f 11 20 33
+f 11 33 41
+f 11 41 40
+f 11 40 36
+f 11 36 49
+f 11 49 43
+f 11 43 34
+f 11 34 21
+f 14 17 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 18
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 23
+f 17 23 22
+f 18 27 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 21 34 42
+f 21 42 51
+f 21 51 52
+f 21 52 50
+f 21 50 38
+f 21 38 30
+f 21 30 29
+f 21 29 28
+f 23 30 35
+f 23 35 36
+f 23 36 25
+f 23 25 24
+f 25 37 26
+f 25 36 37
+f 26 37 27
+f 27 37 31
+f 30 38 35
+f 31 37 36
+f 31 36 39
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 32 41 33
+f 34 43 44
+f 34 44 45
+f 34 45 42
+f 35 38 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 47
+f 36 47 45
+f 36 45 49
+f 36 40 39
+f 38 50 47
+f 38 47 46
+f 42 45 47
+f 42 47 51
+f 43 49 44
+f 44 49 45
+f 47 50 52
+f 47 52 51
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_75.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90fdcc5a1fd989a09d9b1620d7ac874edbc2769e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_75.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02076098 -0.01022944 0.02672154
+v 0.02076098 -0.01010182 0.02829952
+v 0.02076098 -0.00979201 0.02571215
+v 0.02215794 -0.01311587 0.02283875
+v 0.02193683 -0.01311589 0.02672360
+v 0.02250382 -0.01311589 0.02786218
+v 0.02300369 -0.01311589 0.02850609
+v 0.02076098 -0.00852764 0.02924812
+v 0.02076098 -0.00826734 0.02283877
+v 0.02882763 -0.01311587 0.02283875
+v 0.02432958 -0.01311590 0.02887778
+v 0.02347435 -0.01005146 0.02985747
+v 0.02341670 -0.00866365 0.02988580
+v 0.02076098 -0.00667890 0.02901323
+v 0.02076098 -0.00454384 0.02283878
+v 0.02882763 -0.01311589 0.02803421
+v 0.02882763 -0.00781649 0.02283877
+v 0.02487051 -0.01311590 0.02900905
+v 0.02487841 -0.01009512 0.02987681
+v 0.02504582 -0.00850077 0.02989617
+v 0.02367651 -0.00753946 0.02976697
+v 0.02076098 -0.00649084 0.02894621
+v 0.02076098 -0.00636070 0.02875069
+v 0.02387630 -0.00557066 0.02774960
+v 0.02101684 -0.00453880 0.02283878
+v 0.02882763 -0.01253575 0.02864219
+v 0.02489657 -0.00590814 0.02283878
+v 0.02391657 -0.00557066 0.02774960
+v 0.02882763 -0.00813975 0.02677267
+v 0.02882763 -0.01062237 0.02929854
+v 0.02604952 -0.00983653 0.02975522
+v 0.02604952 -0.00904481 0.02975523
+v 0.02581577 -0.00773928 0.02965021
+v 0.02449936 -0.00753946 0.02976697
+v 0.02283628 -0.00516008 0.02283878
+v 0.02629432 -0.00724812 0.02836516
+v 0.02882763 -0.00897765 0.02872097
+v 0.02882763 -0.01050315 0.02928956
+f 1 2 8
+f 1 8 14
+f 1 14 22
+f 1 22 23
+f 1 23 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 16
+f 4 16 18
+f 4 18 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 4 9 15
+f 4 15 25
+f 4 25 35
+f 4 35 27
+f 4 27 17
+f 4 17 10
+f 7 11 12
+f 7 12 8
+f 8 13 14
+f 8 12 13
+f 10 17 29
+f 10 29 37
+f 10 37 38
+f 10 38 30
+f 10 30 26
+f 10 26 16
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 13 20 21
+f 13 21 14
+f 13 19 20
+f 14 21 22
+f 15 23 24
+f 15 24 25
+f 16 26 18
+f 17 27 28
+f 17 28 29
+f 18 26 30
+f 18 30 19
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 22
+f 22 28 24
+f 22 24 23
+f 22 34 28
+f 24 28 25
+f 25 28 35
+f 27 35 28
+f 28 34 33
+f 28 33 36
+f 28 36 29
+f 29 36 37
+f 30 38 32
+f 30 32 31
+f 32 38 33
+f 33 37 36
+f 33 38 37
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_76.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ec784d93f36dc88f5ab1cfa649f49572fe5b7c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_76.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00768219 -0.00143644 0.01585142
+v 0.00645037 -0.00143644 0.01585142
+v 0.00709719 -0.00143644 0.01620052
+v 0.00881055 -0.00333412 0.01888402
+v 0.01035388 -0.00225555 0.01585142
+v 0.00116286 -0.00256902 0.01585142
+v 0.00162300 -0.00347581 0.01888402
+v 0.00709719 -0.00292147 0.01888402
+v 0.00180849 -0.00344658 0.01888402
+v 0.01035388 -0.00399915 0.01888402
+v 0.01035388 -0.00651579 0.01585141
+v -0.00020093 -0.00345189 0.01585142
+v 0.00152075 -0.00355462 0.01888402
+v 0.01035388 -0.00706394 0.01888400
+v 0.01035388 -0.00666279 0.01644392
+v 0.00196068 -0.01048204 0.01585139
+v -0.00179301 -0.00652022 0.01585141
+v -0.00179301 -0.00653350 0.01589535
+v -0.00179301 -0.00686823 0.01699902
+v -0.00179301 -0.00808229 0.01888400
+v 0.00003687 -0.00517512 0.01888401
+v 0.00064921 -0.00430997 0.01888401
+v 0.00167770 -0.01048205 0.01888399
+v 0.00168364 -0.01048205 0.01883055
+v -0.00179301 -0.01048204 0.01585139
+v -0.00179301 -0.01048205 0.01888399
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 25
+f 1 25 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 8
+f 4 10 5
+f 4 8 9
+f 4 9 7
+f 4 7 13
+f 4 13 22
+f 4 22 21
+f 4 21 20
+f 4 20 26
+f 4 26 23
+f 4 23 14
+f 4 14 10
+f 5 10 14
+f 5 14 15
+f 5 15 11
+f 6 12 7
+f 7 12 13
+f 11 15 16
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 23 24
+f 14 24 16
+f 14 16 15
+f 16 24 23
+f 16 23 26
+f 16 26 25
+f 17 25 26
+f 17 26 20
+f 17 20 19
+f 17 19 18
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_77.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5f8b53f0bb06635290ed801762f88a0bde8486e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_77.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02251675 -0.00282774 0.02198258
+v -0.02251675 -0.00692829 0.02198256
+v -0.02251675 -0.00282772 0.01602339
+v -0.03653995 -0.00282774 0.02198258
+v -0.02251675 -0.00725451 0.02098849
+v -0.02736285 -0.00975657 0.02198255
+v -0.02251675 -0.00629934 0.01602338
+v -0.03798025 -0.00282772 0.01602339
+v -0.03900038 -0.00296731 0.01602339
+v -0.03948519 -0.00310160 0.01602339
+v -0.04022453 -0.00330643 0.01602339
+v -0.04131334 -0.00571140 0.02198257
+v -0.03127974 -0.01057817 0.01602336
+v -0.02846378 -0.01002665 0.02198255
+v -0.04117597 -0.00394295 0.01602339
+v -0.04125678 -0.00406509 0.01602339
+v -0.04140020 -0.00559305 0.02098850
+v -0.04131738 -0.00572050 0.02198257
+v -0.03327555 -0.01057819 0.02198255
+v -0.04306877 -0.01057817 0.01602336
+v -0.04151736 -0.00483892 0.01602338
+v -0.04151534 -0.00536696 0.01906044
+v -0.04311119 -0.01057818 0.01965546
+v -0.04164665 -0.00667641 0.02198257
+v -0.04246073 -0.01057819 0.02198255
+v -0.04313341 -0.01057817 0.01650815
+v -0.04309704 -0.01053114 0.01602336
+v -0.04263849 -0.00876119 0.01602337
+v -0.04315158 -0.01057817 0.01707869
+v -0.04313745 -0.01057818 0.01906042
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 12
+f 1 12 18
+f 1 18 24
+f 1 24 25
+f 1 25 19
+f 1 19 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 13
+f 3 13 20
+f 3 20 27
+f 3 27 28
+f 3 28 21
+f 3 21 16
+f 3 16 15
+f 3 15 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 6 13
+f 5 13 7
+f 6 14 13
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 12 17 18
+f 13 14 19
+f 13 19 25
+f 13 25 23
+f 13 23 30
+f 13 30 29
+f 13 29 26
+f 13 26 20
+f 16 21 22
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 20 26 27
+f 21 28 29
+f 21 29 30
+f 21 30 23
+f 21 23 22
+f 23 25 24
+f 26 29 28
+f 26 28 27
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_78.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d49066c2b2c5ff170f29c31019229e9ba6d4b7c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_78.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02416952 -0.01540466 0.02970380
+v 0.02379370 -0.01540466 0.02970380
+v 0.02416952 -0.01569247 0.02970380
+v 0.02517051 -0.01642413 0.02920647
+v 0.02517051 -0.01435365 0.02912516
+v 0.02517051 -0.01311671 0.02892691
+v 0.02487045 -0.01311671 0.02900890
+v 0.01907627 -0.01639341 0.02904652
+v 0.01907627 -0.01653812 0.02908013
+v 0.02379370 -0.01569247 0.02970380
+v 0.01907627 -0.01821326 0.02901829
+v 0.01907627 -0.01838384 0.02897057
+v 0.02484838 -0.01640796 0.02936441
+v 0.02517051 -0.01861910 0.02819434
+v 0.02517051 -0.01311668 0.02283873
+v 0.02432880 -0.01311671 0.02887785
+v 0.02300329 -0.01311670 0.02850620
+v 0.01907627 -0.01514756 0.02820242
+v 0.01907627 -0.01988111 0.02808480
+v 0.02517051 -0.01888993 0.02793224
+v 0.02215739 -0.01311668 0.02283873
+v 0.02517051 -0.01975901 0.02283871
+v 0.02250279 -0.01311670 0.02786237
+v 0.01907627 -0.01510390 0.02812379
+v 0.01907627 -0.02049958 0.02704646
+v 0.02517051 -0.01981158 0.02679243
+v 0.01907627 -0.01341581 0.02283873
+v 0.02193667 -0.01311670 0.02672390
+v 0.02517051 -0.02033707 0.02484548
+v 0.01926298 -0.02137513 0.02283870
+v 0.01907627 -0.02137514 0.02554239
+v 0.02517051 -0.02033383 0.02496779
+v 0.01907627 -0.02041386 0.02283871
+v 0.01919796 -0.02137514 0.02491872
+v 0.01907925 -0.02137513 0.02283870
+v 0.01907627 -0.02137513 0.02297110
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 7 8
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 20
+f 4 20 26
+f 4 26 32
+f 4 32 29
+f 4 29 22
+f 4 22 15
+f 4 15 6
+f 4 6 5
+f 6 15 21
+f 6 21 28
+f 6 28 23
+f 6 23 17
+f 6 17 16
+f 6 16 7
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 24
+f 8 24 27
+f 8 27 33
+f 8 33 36
+f 8 36 31
+f 8 31 25
+f 8 25 19
+f 8 19 12
+f 8 12 11
+f 8 11 9
+f 9 11 10
+f 12 19 14
+f 12 14 13
+f 14 19 20
+f 15 22 30
+f 15 30 35
+f 15 35 33
+f 15 33 27
+f 15 27 21
+f 17 23 24
+f 17 24 18
+f 19 25 26
+f 19 26 20
+f 21 27 28
+f 22 29 30
+f 23 28 27
+f 23 27 24
+f 25 31 26
+f 26 31 32
+f 29 32 34
+f 29 34 30
+f 30 34 31
+f 30 31 36
+f 30 36 35
+f 31 34 32
+f 33 35 36
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_79.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d2154d28ab89acc9c4bc1294fc370ebedb7a4ed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_79.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.02114085 0.00924077 0.01381693
+v -0.02114085 0.00924075 0.01941614
+v -0.02114085 0.01173587 0.01381694
+v -0.01403105 0.00924077 0.01381693
+v -0.02114085 0.01031559 0.01902078
+v -0.01824568 0.00924074 0.02209382
+v -0.01845543 0.00998140 0.02209383
+v -0.01858665 0.01093313 0.02209383
+v -0.02114085 0.01173586 0.01733073
+v -0.01058516 0.01173587 0.01381694
+v -0.01081557 0.01105579 0.01381694
+v -0.01355575 0.00924077 0.01381855
+v -0.02114085 0.01056769 0.01876395
+v -0.01828908 0.01173584 0.02209383
+v -0.01264546 0.00924074 0.02209382
+v -0.01437306 0.01173584 0.02209383
+f 1 2 5
+f 1 5 13
+f 1 13 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 12
+f 1 12 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 14
+f 3 14 16
+f 3 16 10
+f 4 11 12
+f 5 8 14
+f 5 14 13
+f 6 15 16
+f 6 16 14
+f 6 14 8
+f 6 8 7
+f 9 13 14
+f 10 16 15
+f 10 15 11
+f 11 15 12
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_8.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42cfb865f6a35ad86da6a07e78c4492041ae46d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_8.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v 0.02402005 -0.02431927 0.00993186
+v 0.02883013 -0.02515974 0.00993186
+v 0.02402005 -0.02325138 0.01142580
+v 0.02402005 0.02475938 0.00993204
+v 0.03092187 -0.02512019 0.00993186
+v 0.02898288 -0.02387431 0.01142580
+v 0.02402005 0.02445286 0.01142598
+v 0.02488044 0.02461601 0.01142598
+v 0.02488044 0.02488298 0.00993204
+v 0.03427927 -0.02463074 0.00993186
+v 0.02929773 -0.02382982 0.01142580
+v 0.03278294 0.02534771 0.00993204
+v 0.03289204 0.02415622 0.01142598
+v 0.03470634 -0.02453681 0.00993186
+v 0.03588159 -0.02426489 0.00993186
+v 0.03673262 -0.02405724 0.00993186
+v 0.03730310 -0.02390398 0.00993186
+v 0.03870903 -0.02346891 0.00993186
+v 0.04013678 -0.02292507 0.00993187
+v 0.04077272 -0.02230214 0.01008587
+v 0.04148971 -0.02132818 0.01035482
+v 0.04265872 -0.02005758 0.01063490
+v 0.04265872 -0.01846068 0.01104498
+v 0.04265872 -0.01356122 0.01142584
+v 0.03305726 0.02529827 0.00993204
+v 0.03297933 0.02413644 0.01142598
+v 0.03488403 0.02488793 0.00993204
+v 0.04075401 -0.02267293 0.00993187
+v 0.04147100 -0.02233180 0.00993187
+v 0.04265872 -0.02175830 0.00993187
+v 0.04265872 -0.02103648 0.01023577
+v 0.04402724 -0.01968184 0.01048529
+v 0.04466318 -0.01854968 0.01075351
+v 0.04675804 -0.01665614 0.01082562
+v 0.04463201 -0.01649793 0.01107307
+v 0.04457589 -0.01179129 0.01142585
+v 0.03508042 0.02483849 0.00993204
+v 0.03407040 0.02383486 0.01142598
+v 0.04414881 -0.02088322 0.00993187
+v 0.04534276 -0.01926160 0.01030964
+v 0.04466318 -0.02036905 0.01002211
+v 0.04620003 -0.01795146 0.01058313
+v 0.04818579 -0.01610736 0.01062028
+v 0.04874068 -0.01469339 0.01079477
+v 0.04562956 -0.01056024 0.01142585
+v 0.03870903 0.02353328 0.00993204
+v 0.04519625 0.01946935 0.01027746
+v 0.04457589 0.02062129 0.00996435
+v 0.04457901 0.02069051 0.00993203
+v 0.04265872 0.02182762 0.00993203
+v 0.04200095 0.02214403 0.00993203
+v 0.04107199 0.02258899 0.00993203
+v 0.04065114 0.02278674 0.00993203
+v 0.04660841 0.01305209 0.01142594
+v 0.04660841 0.01485169 0.01137197
+v 0.04463201 0.01680950 0.01127867
+v 0.04457589 0.01879697 0.01068389
+v 0.04466941 -0.02056186 0.00993187
+v 0.04676739 -0.01897980 0.00993188
+v 0.04675804 -0.01854968 0.01013648
+v 0.04751556 -0.01741256 0.01035601
+v 0.04950131 -0.01544487 0.01035338
+v 0.05004062 -0.01413967 0.01060289
+v 0.05064227 -0.01261693 0.01072399
+v 0.04693573 -0.00867659 0.01142586
+v 0.04660841 -0.00916110 0.01142586
+v 0.04565761 0.01988464 0.00993202
+v 0.04466006 0.02063118 0.00993203
+v 0.04606599 0.01816415 0.01052491
+v 0.04668011 0.01879697 0.01007534
+v 0.04668946 0.01910844 0.00993202
+v 0.04672375 0.01288894 0.01142594
+v 0.04858481 0.01288894 0.01134784
+v 0.04866275 0.01491597 0.01080759
+v 0.04668011 0.01689355 0.01079605
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_80.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0b424a5b1746bf75375aa9f80b47ebb8094db1b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_80.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.02635296 0.00343951 0.01727806
+v -0.02635296 -0.00282772 0.01727804
+v -0.02635296 0.00343952 0.01381691
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+v -0.04204115 -0.00069835 0.01381690
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+v -0.03695919 -0.00282772 0.01712829
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_81.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16b6c627c217d194710d3a3c72c5f6ef0401f456
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_81.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+v -0.02251473 -0.00686687 0.02859390
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_82.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c36c79cdfe173ce24c412a2566bee1202b2115
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_82.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01491310 0.02107669 0.02813094
+v 0.01491310 0.02194637 0.02751444
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+v 0.00631632 0.02466905 0.01759444
+v 0.00631632 0.02378284 0.01651977
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+f 1 10 5
+f 1 5 11
+f 1 11 19
+f 1 19 14
+f 1 14 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 14
+f 3 14 18
+f 3 18 23
+f 3 23 24
+f 3 24 21
+f 3 21 15
+f 3 15 9
+f 3 9 7
+f 5 10 16
+f 5 16 23
+f 5 23 18
+f 5 18 11
+f 7 12 13
+f 7 9 12
+f 9 15 12
+f 10 17 16
+f 11 18 19
+f 12 20 13
+f 12 15 20
+f 14 19 18
+f 15 21 20
+f 16 22 25
+f 16 25 24
+f 16 24 23
+f 16 17 22
+f 17 20 22
+f 20 21 24
+f 20 24 25
+f 20 25 22
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_83.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b49027fa5b065ddd25058e8e7c51f42207bb3af
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_83.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02409625 0.01699361 0.02850230
+v 0.02308556 0.01699360 0.02891464
+v 0.01637062 0.01420811 0.03142659
+v 0.02409625 0.01692544 0.02849540
+v 0.02409625 0.01699366 0.01381868
+v 0.02290289 0.01699360 0.02895087
+v 0.01558526 0.01420811 0.03144212
+v 0.01843247 0.01420812 0.03015163
+v 0.02409625 0.01565758 0.02792089
+v 0.02409625 0.01685182 0.02848677
+v 0.01318324 0.01699360 0.02927694
+v 0.02409625 0.01420818 0.01381867
+v 0.01292291 0.01699366 0.01381868
+v 0.01292291 0.01460456 0.03029310
+v 0.01292291 0.01420812 0.03042767
+v 0.01292291 0.01699360 0.02927867
+v 0.02409625 0.01565403 0.02791399
+v 0.02109810 0.01420813 0.02690816
+v 0.02290289 0.01476517 0.02677186
+v 0.01292291 0.01420818 0.01381867
+v 0.02409625 0.01420815 0.02196186
+v 0.02409625 0.01536011 0.02677187
+v 0.02409625 0.01437829 0.02284864
+v 0.02409625 0.01421414 0.02199464
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 17
+f 1 17 22
+f 1 22 23
+f 1 23 24
+f 1 24 21
+f 1 21 12
+f 1 12 5
+f 1 5 13
+f 1 13 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 7 15
+f 3 15 20
+f 3 20 12
+f 3 12 21
+f 3 21 18
+f 3 18 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 6 11
+f 3 11 7
+f 5 12 20
+f 5 20 13
+f 7 14 15
+f 7 11 16
+f 7 16 14
+f 8 17 9
+f 8 18 19
+f 8 19 17
+f 13 20 15
+f 13 15 14
+f 13 14 16
+f 17 19 22
+f 18 23 19
+f 18 21 24
+f 18 24 23
+f 19 23 22
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_84.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66ecae28a28a63713775e4444da57fc35c80cd8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_84.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02128750 0.02257768 0.01381698
+v -0.02128750 0.02257768 0.01628651
+v -0.02128750 0.02387548 0.01381698
+v -0.02128750 0.02387548 0.01628651
+v -0.02028749 0.02257768 0.01381698
+v -0.02028749 0.02257768 0.01628651
+v -0.02028749 0.02387548 0.01381698
+v -0.02028749 0.02387548 0.01628651
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_85.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43cb75ff38bdede69db41399d42196c804de7c46
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_85.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.03384454 0.01893558 0.02694675
+v -0.03337917 0.01969771 0.02770555
+v -0.03361041 0.02000614 0.02642035
+v -0.03361041 0.02000615 0.02529849
+v -0.03383876 0.01884401 0.02473139
+v -0.03374106 0.01685132 0.02660349
+v -0.03354740 0.01753028 0.02787154
+v -0.03354740 0.01839136 0.02787155
+v -0.03259759 0.01893558 0.02825872
+v -0.03206169 0.02009561 0.02804345
+v -0.03043840 0.02608737 0.02310726
+v -0.03328668 0.01954613 0.02401276
+v -0.03353815 0.01823979 0.02352331
+v -0.03353815 0.01757135 0.02352330
+v -0.03373586 0.01687554 0.02501948
+v -0.03343872 0.01582078 0.02577828
+v -0.03343872 0.01582078 0.02584790
+v -0.03297393 0.01622393 0.02713309
+v -0.03165703 0.01573655 0.02784638
+v -0.03235479 0.01685132 0.02814037
+v -0.03043840 0.01877242 0.02857788
+v -0.02793871 0.02048194 0.02804828
+v -0.02793871 0.02098721 0.02784693
+v -0.02793871 0.02145880 0.02732429
+v -0.02793871 0.02185145 0.02650712
+v -0.02793871 0.02187882 0.02621795
+v -0.02793871 0.02179040 0.02484547
+v -0.02793871 0.02095459 0.02339587
+v -0.02793871 0.02064407 0.02310724
+v -0.03299474 0.01866191 0.02310723
+v -0.03322424 0.01733556 0.02310722
+v -0.03322424 0.01711029 0.02310722
+v -0.03306006 0.01679449 0.02310722
+v -0.03218367 0.01550288 0.02310722
+v -0.03209638 0.01541235 0.02310722
+v -0.03235479 0.01559971 0.02660349
+v -0.03041470 0.01553760 0.02681019
+v -0.03105754 0.01573655 0.02784638
+v -0.03041470 0.01670605 0.02821908
+v -0.02793871 0.01863768 0.02811521
+v -0.02793871 0.01915453 0.02812056
+v -0.02793871 0.01639027 0.02310722
+v -0.03028751 0.01533340 0.02310722
+v -0.02930302 0.01571655 0.02619222
+v -0.02974064 0.01598288 0.02747795
+v -0.02888563 0.01728922 0.02800274
+v -0.02793871 0.01772397 0.02774464
+v -0.02793871 0.01657658 0.02475869
+v -0.02930302 0.01571656 0.02528027
+v -0.02793871 0.01691343 0.02691568
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 4
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 9
+f 7 9 8
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 42
+f 11 42 43
+f 11 43 35
+f 11 35 34
+f 11 34 33
+f 11 33 32
+f 11 32 31
+f 11 31 30
+f 11 30 13
+f 11 13 12
+f 13 30 31
+f 13 31 32
+f 13 32 14
+f 14 32 15
+f 15 32 33
+f 15 33 16
+f 16 34 35
+f 16 35 17
+f 16 33 34
+f 17 35 36
+f 17 36 19
+f 17 19 18
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 20
+f 20 39 21
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 22 41 40
+f 22 40 47
+f 22 47 50
+f 22 50 48
+f 22 48 42
+f 22 42 29
+f 22 29 28
+f 22 28 27
+f 22 27 26
+f 22 26 25
+f 22 25 24
+f 22 24 23
+f 35 43 36
+f 36 43 37
+f 37 44 45
+f 37 45 38
+f 37 43 44
+f 38 45 46
+f 38 46 39
+f 39 46 40
+f 40 46 47
+f 42 48 44
+f 42 44 49
+f 42 49 43
+f 43 49 44
+f 44 48 50
+f 44 50 45
+f 45 50 47
+f 45 47 46
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_86.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeb5ea659926e2351cefd8498324fb685c8cd0f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_86.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02409625 0.01102321 0.02442162
+v 0.02409625 0.00926008 0.02294806
+v 0.02409625 0.01165505 0.02441289
+v 0.02390702 0.00999912 0.02780345
+v 0.02390702 0.00991652 0.02780345
+v 0.02409625 0.00861948 0.02130341
+v 0.02409625 0.01235473 0.02434481
+v 0.02345965 0.01076445 0.02854721
+v 0.02253209 0.01093347 0.03021980
+v 0.02245334 0.00897394 0.03014995
+v 0.02338746 0.00914737 0.02854720
+v 0.02317197 0.00861945 0.02858561
+v 0.02409625 0.00861951 0.01381867
+v 0.02409625 0.01420760 0.02196163
+v 0.02221379 0.01216817 0.02994045
+v 0.02092746 0.01093347 0.03088499
+v 0.02238443 0.00861945 0.03008884
+v 0.02306259 0.00861945 0.02886146
+v 0.02092746 0.00897394 0.03074705
+v 0.02217770 0.00861945 0.03017788
+v 0.01292291 0.00861951 0.01381867
+v 0.02409625 0.01420763 0.01381869
+v 0.02109810 0.01420758 0.02690781
+v 0.01843247 0.01420757 0.03015171
+v 0.01637062 0.01420756 0.03142623
+v 0.01618686 0.01401062 0.03165320
+v 0.01618686 0.01352922 0.03165320
+v 0.01577558 0.01352922 0.03165320
+v 0.02092746 0.00861945 0.03066674
+v 0.01292291 0.01420763 0.01381869
+v 0.01292291 0.00861949 0.01869326
+v 0.01558526 0.01420756 0.03144194
+v 0.01577558 0.01401062 0.03165320
+v 0.01292291 0.01290176 0.03087103
+v 0.01292291 0.01278688 0.03084135
+v 0.01292291 0.01123162 0.03027567
+v 0.02056103 0.00861945 0.03065277
+v 0.01292291 0.01420757 0.03042757
+v 0.01292291 0.00908338 0.02286600
+v 0.01791837 0.00861945 0.02870084
+v 0.01292291 0.01113698 0.03015345
+v 0.01893781 0.00861945 0.03023899
+v 0.01292291 0.01038095 0.02861181
+v 0.01292291 0.01040338 0.02866244
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 9 5
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 18
+f 6 18 17
+f 6 17 20
+f 6 20 29
+f 6 29 37
+f 6 37 42
+f 6 42 40
+f 6 40 31
+f 6 31 21
+f 6 21 13
+f 7 14 8
+f 8 15 9
+f 8 14 15
+f 9 16 10
+f 9 15 16
+f 10 17 18
+f 10 18 11
+f 10 16 19
+f 10 19 20
+f 10 20 17
+f 11 18 12
+f 13 21 30
+f 13 30 22
+f 14 22 30
+f 14 30 38
+f 14 38 32
+f 14 32 25
+f 14 25 24
+f 14 24 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 21 31 39
+f 21 39 43
+f 21 43 44
+f 21 44 41
+f 21 41 36
+f 21 36 35
+f 21 35 34
+f 21 34 38
+f 21 38 30
+f 25 32 26
+f 26 32 33
+f 26 33 28
+f 26 28 27
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 29
+f 31 40 39
+f 32 38 33
+f 33 38 34
+f 36 41 42
+f 36 42 37
+f 39 40 43
+f 40 42 43
+f 41 44 42
+f 42 44 43
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_87.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..915198af55dfde38b7263ea96ce351872528c88f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_87.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02635296 -0.00282748 0.02221109
+v -0.02635296 -0.00014937 0.02218246
+v -0.02637335 -0.00282750 0.02674571
+v -0.02635296 -0.00282746 0.01727929
+v -0.02685831 -0.00014939 0.02806302
+v -0.02646025 -0.00282751 0.02862580
+v -0.02635296 -0.00014935 0.01727930
+v -0.03607036 -0.00282746 0.01727929
+v -0.02696560 -0.00014940 0.02876027
+v -0.02730357 -0.00014940 0.02973020
+v -0.02735506 -0.00014940 0.02978125
+v -0.02743232 -0.00014940 0.02981113
+v -0.02846339 -0.00051543 0.02998918
+v -0.03417344 -0.00282751 0.02937783
+v -0.03565621 -0.00014935 0.01727930
+v -0.03688685 -0.00282457 0.01727929
+v -0.03662613 -0.00282747 0.01901494
+v -0.02842476 -0.00014940 0.02999789
+v -0.03044721 -0.00014940 0.02994685
+v -0.03043862 -0.00040950 0.02993813
+v -0.03123687 -0.00014940 0.02981113
+v -0.03420670 -0.00282751 0.02937160
+v -0.03683213 -0.00268036 0.01727929
+v -0.03618301 -0.00014939 0.02677311
+v -0.03731387 -0.00282750 0.02677310
+v -0.03688255 -0.00280596 0.01727929
+v -0.03194714 -0.00014940 0.02961939
+v -0.03369278 -0.00014940 0.02912011
+v -0.03634073 -0.00282751 0.02870299
+v -0.03727631 -0.00282750 0.02731596
+v -0.03606928 -0.00014939 0.02719769
+v -0.03438910 -0.00014940 0.02889350
+v -0.03634824 -0.00282751 0.02869926
+v -0.03577960 -0.00014939 0.02810660
+v -0.03532361 -0.00014939 0.02840916
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 22
+f 1 22 29
+f 1 29 33
+f 1 33 30
+f 1 30 25
+f 1 25 17
+f 1 17 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 15
+f 2 15 24
+f 2 24 31
+f 2 31 34
+f 2 34 35
+f 2 35 32
+f 2 32 28
+f 2 28 27
+f 2 27 21
+f 2 21 19
+f 2 19 18
+f 2 18 12
+f 2 12 11
+f 2 11 10
+f 2 10 9
+f 2 9 5
+f 4 8 16
+f 4 16 26
+f 4 26 23
+f 4 23 15
+f 4 15 7
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 8 17 16
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 14 19 21
+f 14 21 22
+f 14 20 19
+f 15 23 24
+f 16 25 26
+f 16 17 25
+f 21 27 22
+f 22 28 29
+f 22 27 28
+f 23 26 25
+f 23 25 24
+f 24 25 30
+f 24 30 31
+f 28 32 29
+f 29 32 33
+f 30 33 34
+f 30 34 31
+f 32 35 33
+f 33 35 34
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_88.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4eece57343d45c463fbc50797aa27bbf5b4a1cc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_88.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02659802 0.01699363 0.02060532
+v 0.02659802 0.01699361 0.02784009
+v 0.02659802 0.01882031 0.02060533
+v 0.02988823 0.01699363 0.02060532
+v 0.02659802 0.01718476 0.02818979
+v 0.03475570 0.01699361 0.02831139
+v 0.02659802 0.02126689 0.02478264
+v 0.02673582 0.02134498 0.02477231
+v 0.02686196 0.01896355 0.02060533
+v 0.02986279 0.01715891 0.02060532
+v 0.03475570 0.01699363 0.02222188
+v 0.02659802 0.01843750 0.02860625
+v 0.03495391 0.01699361 0.02831298
+v 0.02883036 0.01877189 0.02872388
+v 0.02659802 0.01853427 0.02863805
+v 0.02659802 0.02128797 0.02492013
+v 0.02731457 0.02188728 0.02536759
+v 0.02690118 0.01898463 0.02060533
+v 0.02929357 0.01824974 0.02060533
+v 0.03505991 0.01699363 0.02235143
+v 0.02881976 0.01866365 0.02060533
+v 0.03631282 0.01699361 0.02808567
+v 0.03594500 0.01790623 0.02785917
+v 0.02863744 0.02074182 0.02815484
+v 0.02704746 0.02073703 0.02814927
+v 0.02685454 0.01877189 0.02870163
+v 0.02659802 0.01854865 0.02863964
+v 0.02659802 0.02138474 0.02574351
+v 0.02744071 0.02184511 0.02677274
+v 0.02840106 0.02188728 0.02536759
+v 0.02767073 0.01982347 0.02179828
+v 0.02659802 0.02148868 0.02677274
+v 0.02799403 0.01982347 0.02179828
+v 0.02732623 0.01897121 0.02060533
+v 0.03593546 0.01790241 0.02372718
+v 0.03646758 0.01699362 0.02331707
+v 0.03733147 0.01699361 0.02695074
+v 0.03632130 0.01813379 0.02677273
+v 0.02925541 0.02143599 0.02677274
+v 0.02785093 0.02171337 0.02773997
+v 0.02783503 0.02171337 0.02773997
+v 0.02659802 0.02058996 0.02810556
+v 0.02659802 0.02032982 0.02819616
+v 0.02659802 0.01877189 0.02865950
+v 0.02826750 0.02184511 0.02677274
+v 0.03631388 0.01813092 0.02484462
+v 0.02896816 0.02131240 0.02477231
+v 0.02659802 0.02145707 0.02687447
+v 0.03730179 0.01720584 0.02484461
+v 0.03706223 0.01699362 0.02420562
+v 0.03736857 0.01699361 0.02646832
+v 0.03742687 0.01699362 0.02484461
+v 0.03736645 0.01699362 0.02469520
+f 1 2 5
+f 1 5 12
+f 1 12 15
+f 1 15 27
+f 1 27 44
+f 1 44 43
+f 1 43 42
+f 1 42 48
+f 1 48 32
+f 1 32 28
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diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_89.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07eb88da5bf7a459b647dbd5a0461c620347a667
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_89.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_9.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11bcd51ba3e2681c6e1c508d621810af7c82c1bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_9.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_90.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3c2c07c55105e5d6bcaa212bd020d0b2e71c9bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_90.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00709750 -0.00392729 0.02283882
+v 0.00709750 -0.00437077 0.02677272
+v 0.00742589 -0.00395877 0.02283882
+v 0.00314744 -0.00458214 0.02283881
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_91.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8afc063d35ab9ab924a91c015c8f142da5266322
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_91.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01894059 0.00106720 0.02283811
+v 0.01894059 -0.00220511 0.02693676
+v 0.01894059 0.00343949 0.02283812
+v 0.02291669 -0.00257075 0.02283810
+v 0.01894059 -0.00224309 0.02808208
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+v 0.01894059 0.00297015 0.03014204
+v 0.02172116 -0.00197658 0.02980370
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_92.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a1f9569ab162f35dae52201b4b9e4800b86b258
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_92.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01858730 0.01093313 0.02209469
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_93.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4836e15eb9e78944881d54185a8db281b9187596
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_93.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00459954 0.00861951 0.01381867
+v 0.00459954 0.01699284 0.01381870
+v 0.01292181 0.00861951 0.01381867
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+v 0.01225056 0.00861945 0.02926493
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+v 0.01173897 0.00861945 0.02983941
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+f 3 5 10
+f 3 10 19
+f 3 19 28
+f 3 28 34
+f 3 34 32
+f 3 32 31
+f 3 31 30
+f 3 30 22
+f 3 22 13
+f 3 13 7
+f 4 8 9
+f 6 9 11
+f 6 11 12
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 11
+f 10 17 18
+f 10 18 19
+f 11 16 20
+f 11 20 21
+f 11 21 18
+f 11 18 17
+f 11 17 12
+f 13 22 23
+f 13 23 14
+f 15 24 20
+f 15 20 25
+f 15 25 26
+f 15 26 16
+f 16 26 20
+f 18 21 20
+f 18 20 27
+f 18 27 28
+f 18 28 19
+f 20 26 25
+f 20 24 29
+f 20 29 27
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 27 34 28
+f 27 29 35
+f 27 35 32
+f 27 32 34
+f 32 35 33
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_94.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2882aa061f6df18227892dc85ed4889016ef6b4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_94.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00179301 -0.03226413 0.01888391
+v -0.00063555 -0.03247657 0.01888391
+v -0.00179301 -0.03224731 0.01898996
+v -0.00179301 -0.01098938 0.01888399
+v 0.00099580 -0.03243660 0.01888391
+v 0.00082318 -0.03152378 0.02024748
+v -0.00080404 -0.03144385 0.02019213
+v -0.00179301 -0.03138286 0.02015459
+v -0.00179301 -0.01098939 0.02283769
+v 0.00160108 -0.01098938 0.01888399
+v 0.00260242 -0.03182455 0.01888391
+v 0.00120321 -0.03222628 0.01908866
+v 0.00213998 -0.03116412 0.02001255
+v 0.00288446 -0.02779045 0.02283763
+v -0.00179301 -0.02819639 0.02283763
+v 0.00162947 -0.01098939 0.02283769
+v 0.00288446 -0.01437778 0.01888398
+v 0.00288446 -0.03168783 0.01888391
+v 0.00288446 -0.01634016 0.02283767
+v 0.00288446 -0.01519597 0.02062259
+v 0.00288446 -0.01458390 0.01936159
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 16
+f 4 16 10
+f 5 11 12
+f 5 12 6
+f 6 12 11
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 9 15 14
+f 9 14 19
+f 9 19 16
+f 10 16 17
+f 11 18 13
+f 13 18 14
+f 14 18 17
+f 14 17 21
+f 14 21 20
+f 14 20 19
+f 16 19 20
+f 16 20 21
+f 16 21 17
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_95.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96da615ec07ebc14c65df7cb177ad3f580b6e8ae
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_95.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.03351756 -0.00348680 0.01888402
+v 0.03332813 -0.00351691 0.01888402
+v 0.03339127 -0.00354775 0.01906090
+v 0.03373343 -0.00374531 0.02007187
+v 0.03384357 -0.00374531 0.02007187
+v 0.03461012 -0.00351397 0.01888402
+v 0.02705619 -0.00600871 0.01888401
+v 0.02705619 -0.00662855 0.02087808
+v 0.03316953 -0.00528094 0.02283771
+v 0.03323708 -0.00526331 0.02283771
+v 0.03474963 -0.00506576 0.02283771
+v 0.02705619 -0.00671374 0.02105961
+v 0.04020067 -0.00552108 0.02258496
+v 0.04068381 -0.00474849 0.01888401
+v 0.02705619 -0.01098938 0.01888399
+v 0.02705619 -0.00757813 0.02283770
+v 0.04048703 -0.00574507 0.02283771
+v 0.04151791 -0.00587286 0.02156819
+v 0.04078954 -0.00532133 0.02095084
+v 0.04068234 -0.00479255 0.01906089
+v 0.04171322 -0.00566869 0.02028319
+v 0.04176755 -0.00557028 0.01906089
+v 0.04177049 -0.00555926 0.01888401
+v 0.02705619 -0.01098939 0.02283769
+v 0.03662636 -0.01098938 0.01888399
+v 0.04091436 -0.00596246 0.02283771
+v 0.04202601 -0.00700530 0.02283770
+v 0.04186007 -0.00658888 0.01888401
+v 0.03666160 -0.01098939 0.02283769
+v 0.04068674 -0.00848950 0.01888400
+v 0.04156490 -0.00960653 0.02283769
+v 0.04067793 -0.01003835 0.02283769
+v 0.04064416 -0.01005304 0.02283769
+v 0.04205685 -0.00864961 0.02283770
+v 0.04185713 -0.00669904 0.01888401
+v 0.04205685 -0.00870102 0.02283770
+v 0.04175140 -0.00781092 0.01888400
+v 0.04176902 -0.00771765 0.01888400
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 23
+f 1 23 28
+f 1 28 35
+f 1 35 38
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+f 1 30 25
+f 1 25 15
+f 1 15 7
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+f 5 13 6
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+f 9 33 32
+f 9 32 31
+f 9 31 36
+f 9 36 34
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+f 14 21 22
+f 14 22 23
+f 15 25 29
+f 15 29 24
+f 17 26 18
+f 18 26 27
+f 18 27 21
+f 21 27 22
+f 22 27 23
+f 23 27 28
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 29
+f 27 34 28
+f 28 34 36
+f 28 36 35
+f 30 37 31
+f 31 37 36
+f 35 36 38
+f 36 37 38
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_96.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e0f21a7f8544b0290e40e25d630e293a7aea68
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_96.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00179301 -0.00868155 0.02268981
+v -0.00350252 -0.00529338 0.02268982
+v -0.00179301 -0.01057819 0.02268980
+v -0.00179301 -0.00282772 0.01514748
+v -0.00485942 -0.00431243 0.02268982
+v -0.01007386 -0.01057819 0.02268980
+v -0.00179301 -0.01057816 0.01381686
+v -0.00179301 -0.00282771 0.01381689
+v -0.00475567 -0.00282772 0.01665439
+v -0.00563920 -0.00371234 0.02206796
+v -0.00499722 -0.00423657 0.02268982
+v -0.01007386 -0.00670904 0.02268982
+v -0.01007386 -0.01057816 0.01381686
+v -0.01007386 -0.00282771 0.01381689
+v -0.00620741 -0.00282772 0.01672648
+v -0.00581266 -0.00371234 0.02206796
+v -0.00646598 -0.00438451 0.02268982
+v -0.01007386 -0.00282772 0.01538286
+v -0.00673023 -0.00282772 0.01670911
+f 1 2 5
+f 1 5 11
+f 1 11 17
+f 1 17 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 13
+f 3 13 7
+f 4 8 14
+f 4 14 18
+f 4 18 19
+f 4 19 15
+f 4 15 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 18
+f 6 18 14
+f 6 14 13
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+f 7 14 8
+f 9 15 10
+f 10 16 11
+f 10 15 16
+f 11 16 17
+f 12 17 18
+f 15 19 16
+f 16 19 18
+f 16 18 17
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_97.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98889e4d027f6e377dbb7ee5d8661fb0102d18c2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_97.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.03438941 0.01074519 0.01381694
+v -0.03438941 0.01328939 0.01381695
+v -0.02935564 0.01074519 0.01381694
+v -0.03438941 0.01074516 0.02243880
+v -0.03438941 0.01356724 0.01381786
+v -0.03438878 0.01356724 0.01381695
+v -0.02867370 0.01117111 0.01381694
+v -0.03246039 0.01074516 0.02114839
+v -0.03299584 0.01074516 0.02231876
+v -0.03438878 0.01093330 0.02252247
+v -0.03438941 0.01093330 0.02252247
+v -0.03160543 0.01597470 0.01382151
+v -0.03438941 0.01377976 0.01737082
+v -0.03299458 0.01866085 0.02310632
+v -0.03278747 0.01908067 0.02310632
+v -0.03160922 0.01596860 0.01381696
+v -0.02793934 0.01190188 0.01381694
+v -0.02793934 0.01638927 0.02310631
+v -0.03028763 0.01533274 0.02310631
+v -0.03438941 0.01255946 0.02243972
+v -0.03209605 0.01541113 0.02310631
+v -0.03218382 0.01550171 0.02310631
+v -0.03306025 0.01679341 0.02310631
+v -0.03322379 0.01710959 0.02310631
+v -0.03322379 0.01733518 0.02310631
+v -0.03159785 0.01597557 0.01381696
+v -0.03232652 0.01945694 0.02310632
+v -0.03145073 0.01780727 0.01805651
+v -0.03438941 0.01374665 0.01923506
+v -0.03438941 0.01323536 0.02098835
+v -0.02793934 0.01691538 0.01381696
+v -0.02793934 0.01964247 0.02310632
+v -0.03194324 0.01964247 0.02310632
+v -0.02793934 0.01845704 0.01818747
+v -0.02793934 0.01964247 0.02172769
+v -0.03090707 0.01964247 0.02273347
+f 1 2 6
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+f 1 17 7
+f 1 7 3
+f 1 3 8
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+f 17 32 18
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+f 27 33 28
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+f 31 33 34
+f 32 35 36
+f 32 36 33
+f 33 36 34
+f 34 36 35
+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_98.obj b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f040abac21d4d68c8147109753ec99db96617f46
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_collision_98.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.03901762 0.00343951 0.01727931
+v -0.03899051 0.00339595 0.01727931
+v -0.04020112 0.00343947 0.02677039
+v -0.02635432 0.00343951 0.01727931
+v -0.03873835 0.00299410 0.01727931
+v -0.04019163 0.00342437 0.02677289
+v -0.04019570 0.00343947 0.02679036
+v -0.02635432 0.00343949 0.02197304
+v -0.02635432 -0.00014908 0.01727930
+v -0.03782463 0.00191253 0.01727931
+v -0.04017265 0.00343947 0.02687151
+v -0.03565556 -0.00014908 0.01727930
+v -0.03618292 -0.00014912 0.02677288
+v -0.03606904 -0.00014912 0.02719731
+v -0.03578028 -0.00014912 0.02810610
+v -0.02715416 0.00244607 0.02837325
+v -0.02635432 0.00295439 0.02291678
+v -0.02986143 0.00343947 0.02677289
+v -0.02846374 0.00318339 0.02677289
+v -0.02827259 0.00278574 0.02889006
+v -0.02635432 -0.00014910 0.02218275
+v -0.03863126 0.00343946 0.02870031
+v -0.03532342 -0.00014912 0.02840944
+v -0.02694132 0.00132234 0.02889005
+v -0.02748630 0.00210006 0.02965903
+v -0.02635432 0.00294490 0.02292677
+v -0.02662003 0.00113513 0.02677288
+v -0.03255921 0.00343947 0.02839697
+v -0.02880266 0.00232944 0.02984129
+v -0.02635432 0.00059593 0.02354843
+v -0.02685863 -0.00014912 0.02806241
+v -0.03833979 0.00343946 0.02880143
+v -0.03438801 -0.00014913 0.02889380
+v -0.02732362 0.00079403 0.02979260
+v -0.02732362 -0.00011014 0.02979260
+v -0.02696572 -0.00014913 0.02876022
+v -0.02827259 0.00132234 0.03003103
+v -0.02635432 0.00106523 0.02382681
+v -0.03676179 0.00343946 0.02886634
+v -0.02985736 0.00232944 0.02984129
+v -0.03369255 -0.00014913 0.02911975
+v -0.03179055 0.00003107 0.02972394
+v -0.03123744 -0.00014913 0.02981132
+v -0.03044708 -0.00014913 0.02994614
+v -0.03048504 0.00107400 0.02998983
+v -0.02735616 -0.00014913 0.02978136
+v -0.02730464 -0.00014913 0.02973018
+v -0.02743207 -0.00014913 0.02981132
+v -0.02842442 -0.00014913 0.02999732
+v -0.03194916 -0.00014913 0.02961908
+f 1 2 3
+f 1 3 7
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+f 1 11 22
+f 1 22 32
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+f 1 28 18
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+f 18 20 19
+f 18 28 20
+f 20 29 25
+f 20 28 29
+f 21 30 31
+f 22 23 33
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+
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c55ba7720e05a719cd55c58168750ec5e68b3ff9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mjcf/mesh/comb_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc77577221f7a15fbffc8140d3fd392f870a1c37b0aaa64b281e27a190f65943
+size 9490756
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/textures/material_0.png b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c55ba7720e05a719cd55c58168750ec5e68b3ff9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc77577221f7a15fbffc8140d3fd392f870a1c37b0aaa64b281e27a190f65943
+size 9490756
diff --git a/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/video.mp4 b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b687f64f9b363a16e75d92eb027c14e37f4c95a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c39773b1938215449809aa80138aad6d31effb03f800f2b62fff139cf49122c5
+size 482837