diff --git a/.gitattributes b/.gitattributes
index 7f43743ecab036386ba4764efb91636514eac430..60fb73e77fa2434ed4a264161409e079f7dde5e1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2603,5 +2603,5 @@ dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_
 dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/dental_floss_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/mesh/dental_floss_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/mesh/nail_clipper_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/nail_clipper_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mouthwash_cup_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b140904445d1ada49103feb7f8c9a02db292a0aa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_019_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd mouthwash_cup_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..adc116a50f8247e5be72d92bd8e73967b1003235
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84f335718339e07081981a73ae92a32452ec087cdba631e183b32f9b3182854a
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019.glb b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..74fdf0b19abea965c6019dc6371622d228b5c50c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019.glb
@@ -0,0 +1,3 @@
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+size 11448344
diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019.mtl b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..add37ded9da22cc8dc298948cc9119b2e03f9793
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019.mtl
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+newmtl mouthwash_cup_019_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1bf2d936b1d923b27ba8c5cae1c81a9ef3ffac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019.obj
@@ -0,0 +1,105714 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_019_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019_collision.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c36c4c7e1e20fe0587ae1f3c51b457c74378448
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019_collision.obj
@@ -0,0 +1,8791 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mesh/mouthwash_cup_019_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17cab35ac0659361fe2bd0c0daa5d3aa4232c858
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision.obj
@@ -0,0 +1,8791 @@
+# https://github.com/mikedh/trimesh
+
+o mouthwash_cup_019_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_0.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27efda76774cdf40aa15bfe84936f770b325a71
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_1.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e205a4500e57b0be87e66b5f14bf473da69b2a0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_1.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_10.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21bc4fa79960a77a2cac335ee712bf488c60da02
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_10.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_11.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2995341ed2e330400cc04ef658de36a14c467ed
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_11.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_12.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81846eb9150500b30bf2b201ed33be5f769ac8be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_12.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_13.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5c9e9359186bfa175f9003060c27443a4db662
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_13.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_14.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fbc73079e8ca2e758073ecc438edd7296c437a3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_14.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.02961771 -0.00077752 -0.03074476
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_15.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cabc13ecf885f90f4c699625d2c716ed6649c956
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_15.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_16.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0685da0a8800ef1deedf41e57558213f5eb66193
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_16.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_17.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44af160a46241379b43ee52bdacdec5b711257ff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_17.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_18.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc55cad5701f74c227f6086931ebec57b2123903
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_18.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_19.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4123b53138c38893aef0973032e38a4ddb76b96b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_19.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_2.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4b8fdd9238c3d0e7905c9a435c6634d0359db77
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_20.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcd34049cee32abef7d7ea1416fd6fdc95c57cbd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_20.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_21.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c720ae93e18642a0703b483bf3beae69d22556e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_21.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_22.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386b68d7c90893cddae12be64732e71a6c28fe70
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_22.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_23.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9caba3f78b0c3513d1cc4043151d3c4c32966767
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_23.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_24.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d6828e2d19c3e8be23856d4c3e468a8a87d1df
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_24.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_25.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93762472b1aa2293c85e39fe2155b4ba3139e028
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_25.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_3.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afcb947a403da40654f331872271edc6949c59d8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_4.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a439a2fe6da90cb899f4d95e29130bb6753301
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_4.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_5.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4ad24da7bbd9c6b0abd135e638d19f5336e25c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_5.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_6.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c60ebf4a698d6d5776d57ed1b68d4cfe05e560
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_6.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_7.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30345608c79a77970709e8cc5b01ef6cfce4b449
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_7.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_8.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde66069ceb392e9b9f5ba9089033f4e091f82c0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_8.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_9.obj b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98ff34021de100de44ac10b5c9c7509ca11d61d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mesh/mouthwash_cup_019_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mouthwash_cup_019.xml b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mouthwash_cup_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8586d7b8a7ebb94a7cbf5771e35f133aa73eeb44
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mjcf/mouthwash_cup_019.xml
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_019">
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+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_019_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_019_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mouthwash_cup_019_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mouthwash_cup_019_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mouthwash_cup_019_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mouthwash_cup_019_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mouthwash_cup_019_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mouthwash_cup_019_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mouthwash_cup_019_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_019">
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+      <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" />
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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" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mouthwash_cup_019.urdf b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mouthwash_cup_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36cc6daa565bb8a1d27ed425afe46089d8df1196
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mouthwash_cup_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_019">
+   <link name="mouthwash_cup_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_019.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>c038ba4629475556bfed6bb10e708c74</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>clear tumbler</name>
+         <color>transparent</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>transparent tapered plastic cup with thick circular base</description>
+         <min_height>0.1038</min_height>
+         <max_height>0.1038</max_height>
+         <real_height>0.1038</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154435</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034887 -0.034924 -0.045824</min>
+            <max>0.035006 0.035076 0.057980</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/c038ba4629475556bfed6bb10e708c74/mouthwash_cup_019.usd b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mouthwash_cup_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/mouthwash_cup_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8abe1c5231ee16db3be5070cc9923c6a422f2d0416b3bd1af0f5e487c0b685f8
+size 4645093
diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/textures/material_0.png b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/textures/material_0.png
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+size 8523731
diff --git a/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/video.mp4 b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/video.mp4
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 232720