diff --git a/.gitattributes b/.gitattributes
index 072df1a708d02edbf475fd2817e2fa2ffbaf5d9e..3e344f4060f3de01fba7028c795d70ed0395eae9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2611,5 +2611,5 @@ dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/to
 dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/toothpaste_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/comb_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/mesh/comb_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/mesh/toothbrush_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/toothbrush_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mouthwash_cup_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f2eb30d1dbc42362b5adffb485e48e4bfc577503
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_030_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12fc8c21e45ec8b12cdc4b3ab49fd856ded287f7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030.glb b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..45573905eb62c9d79ffd1a6af46c736e8f9ae466
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030.mtl b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1a0ab967c5a509b3010895d770417cd1c400e09
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030.mtl
@@ -0,0 +1,6 @@
+newmtl mouthwash_cup_030_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62b54345b283a66b8914fd18358eaeb560c46bd8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030.obj
@@ -0,0 +1,114046 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030_collision.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2333599c2d29314ed60dba3e79f13de6ec8266f8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mesh/mouthwash_cup_030_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e13dbfac667c01be49a209996666859e53a3a726
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision.obj
@@ -0,0 +1,17717 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_0.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f293055c0c4fffa63bffe2d632e8554321404cff
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_1.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cf5b888274b217f509872c4cd5ed26ae01967ad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_10.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5474a924ec2e3e74e83d8776c9aef85a99523e69
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_10.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_11.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee1b6248233ac4df9fab11c5edf3a601b7cf1f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_11.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_12.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8c1fdfed7fa0d824f8209ed6ea293737ca9e01b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_12.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_13.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c74055ff8bd70ca3a48cab1c45d9cfb2cf11cc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_13.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_14.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc6efeaff039b2419b6bd2d649c6531e21b97ef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_14.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_15.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01c3df679072a1174b3b088c1e71ef3e77b1a421
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_15.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_16.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ead07b495ca0fdceea2b66e829ce06a55d70ab0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_16.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_17.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47d0f9548f01bfa0d5c0557246a83602fdccc50
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_17.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_18.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..216b1ac77f54c8fef1711e77d1d6661c755dad3f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_18.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_19.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885ed72a84d4935de6af3d8d37cc23943bb7c899
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_19.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_2.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0e2ff17375dace4b593dbb4c26bfd3d73c2f50
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_2.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_20.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3481493659602a020e98c36efe98da50950587b4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_20.obj
@@ -0,0 +1,1024 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_21.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9d678a8afae8c28970f61e5a6282d6494b1139
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_21.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_22.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..021424869dc8c941d56f3f78754dbdceb5385ee5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_22.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_23.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa699c2085d1576ee25b15c33cf273cf710069d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_23.obj
@@ -0,0 +1,1033 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_24.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d3b1195178dc807e93b5c050c8286a321ce4bb1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_24.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_25.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95eee92d5e546e54a25cedb98c0cd83aced2be6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_25.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_26.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..407190d16e10608df408e57cd85d66c7c968408a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_26.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_27.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfda6e4b4d50c783e1f622d3c8eea06dc8a9023b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_27.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_28.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfa9c0c75ccc20c5e67123e114720c618b08515a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_28.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_29.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3501c19f2be776fb6229f95cd0acf05331b437b3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_29.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_3.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c19583c67034c5ffb8a1592a96c31b184c3dbc2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_3.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_4.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b8cd1d94cdcd595c9eda7baac68aecefe00973
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_4.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_5.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737ffda4e8b9921ac8317c07b406b51d3fdc3a3a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_6.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e70905769abbe28a27db234ab95df67602109e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_6.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_7.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5919aa36388c9dfc63db08fa5830d4540f2f970
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_7.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_8.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bc5ba40c0e933bdf96e9f68213b825ad63661ee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_8.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_9.obj b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5720bbe8831dcbe634e64fb7d1aaca3ddf766d0e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mesh/mouthwash_cup_030_collision_9.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mouthwash_cup_030.xml b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mouthwash_cup_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e1f1811320e0d7a18503add633e8ea504b0337b5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mjcf/mouthwash_cup_030.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_030">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mouthwash_cup_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_030_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_030_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_030_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_030_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_030_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_030_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_030_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_030_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_030_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_030_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mouthwash_cup_030_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mouthwash_cup_030_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mouthwash_cup_030_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mouthwash_cup_030_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mouthwash_cup_030_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mouthwash_cup_030_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mouthwash_cup_030_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mouthwash_cup_030_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mouthwash_cup_030_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mouthwash_cup_030_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mouthwash_cup_030_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mouthwash_cup_030_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mouthwash_cup_030_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mouthwash_cup_030_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_030">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mouthwash_cup_030.urdf b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mouthwash_cup_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c405b0d5c785ad9aa8453b194dc8fbeb62ae0cd0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mouthwash_cup_030.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_030">
+   <link name="mouthwash_cup_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>c69f449629735c3c92474bd05735b953</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>gray mouthwash cup</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tapered gray cylindrical cup with printed side markings</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611122810</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.029347 -0.029278 -0.030290</min>
+            <max>0.029299 0.029292 0.049710</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/c69f449629735c3c92474bd05735b953/mouthwash_cup_030.usd b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/mouthwash_cup_030.usd
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diff --git a/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/textures/material_0.png b/dataset/bathroom_supplies/personal_care/c69f449629735c3c92474bd05735b953/textures/material_0.png
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