diff --git a/.gitattributes b/.gitattributes
index 29704eeaae7e8bc1daf6d62e4105b70164785364..0f7ad5d0b2e97bf11b3785a5a854cbde7b248fdf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2599,3 +2599,5 @@ dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/mesh/na
 dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/nail_clipper_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/bd3c9b02321a5b6cbfff0adccab36821/dental_floss_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/bd3c9b02321a5b6cbfff0adccab36821/mesh/dental_floss_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_floss_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_floss_034.urdf b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_floss_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d8d9d7111d02e196ef0df833d5fdfa806ba6feb4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_floss_034.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="dental_floss_034">
+   <link name="dental_floss_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/dental_floss_034.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/dental_floss_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>bd61cfff8be058dcb7b128626682b4a5</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>dental_floss</category>
+         <name>floss dispenser</name>
+         <color>green</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>teal plastic dental floss case with hinged lid and cutter</description>
+         <min_height>0.0799</min_height>
+         <max_height>0.0799</max_height>
+         <real_height>0.0799</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611121312</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.020254 -0.040047 -0.027598</min>
+            <max>0.017248 0.039953 0.052296</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_floss_034.usd b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_floss_034.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_floss_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:663685d9799bc7c64d7d4a34e19fd3eefd1a0a1123003bacccde2b709b5b8c70
+size 4974466
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.glb b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9a941b20a1b8de422af0dc51fccb8725f3d29803
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06ebeacef322417353e24c63091c9652aec7a6a879a1a08eb9aef935c52a9cd6
+size 14571468
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.mtl b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3f9649a245161e189eb8343ca5c32abc69b9bd65
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.mtl
@@ -0,0 +1,6 @@
+newmtl dental_floss_034_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/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a379c2f7481cf557fb0a56714a7282fc10d8a5ea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034.obj
@@ -0,0 +1,109666 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_034_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034_collision.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec6adc27cd5c3d99d4f8b38ab4612cae5a7b7f58
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/dental_floss_034_collision.obj
@@ -0,0 +1,15113 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/material.mtl
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/material.mtl
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+
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/dental_floss_034.xml b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/dental_floss_034.xml
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+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/dental_floss_034.xml
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+      <geom type="mesh" mesh="collision_mesh_0_18" 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" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28cb0f146ebcec9903956226a38120b47649459
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034.obj
@@ -0,0 +1,109666 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_034_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69eaf118c2ce82ada22a570eaa107151b9a3a710
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision.obj
@@ -0,0 +1,15113 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_0.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9cf5ee56490750a859028330eb19cf86b3392c7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_1.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95259236a09147a30f8cc2863437412f6f04310a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_10.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34682afca0895d1f2ef0484b2aae452e4c0aa89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_11.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee61bfbfd856bb98a653403af5b9c63d586fe0c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_11.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_12.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00a6c066edea195f4797849a0abe79545236a0cf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_12.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_13.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4f3375bcbc56b3684e85c56d851f1fcd2472ade
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_13.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_14.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b81e85fc50168b4c6a57712006c5f47ed7cc8200
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_14.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_15.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c3c4aa8885f15a183be63f276bc1d7cec7b395
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_15.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_16.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b27dd7190db5a126b67afb9c849c0cd8d6b34eb4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_16.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_17.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef41c077b43c3a73eef4e385b57b97b347d6adb8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_17.obj
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+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_18.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..955068966766ba9fb2006091a68ed27e49b43b0d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_18.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01962133 0.02566118 0.02791381
+v -0.01962133 0.02697915 0.02791382
+v -0.01961690 0.02566118 0.02789561
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+v -0.01880264 -0.00008103 0.02611060
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+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_19.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7022559b3123d8bcd9ab38460228f06828b09e38
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00213480 -0.00589384 0.02220186
+v 0.00213480 -0.00589384 0.02320186
+v 0.00213480 0.03034509 0.02220186
+v 0.00213480 0.03034509 0.02320186
+v 0.00641422 -0.00589384 0.02220186
+v 0.00641422 -0.00589384 0.02320186
+v 0.00641422 0.03034509 0.02220186
+v 0.00641422 0.03034509 0.02320186
+f 2 4 1
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+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/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_2.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e2fe2cee07fb2dbd22670a24e382084346d100
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_2.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01454847 -0.03115910 0.02235985
+v 0.01405754 -0.03115910 0.02285639
+v 0.01305382 -0.03234752 0.02317137
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+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_20.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e42df7d4504a9c86eb7e4190f239f4384e7787ca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_20.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.01478762 -0.03443325 0.03604689
+v -0.01478762 -0.03300188 0.03007682
+v -0.01478762 -0.03937976 0.03604688
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+v -0.01478762 -0.03937482 0.03535964
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+v -0.01053464 -0.04006684 0.03604687
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+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_21.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ca575e67d0e9f4cb8f22393e1d83740afa36488
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_21.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00965731 0.03036274 0.02236024
+v 0.01088599 0.03036273 0.02341911
+v 0.01480787 0.03036274 0.02236024
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+v 0.01282218 -0.00012430 0.02366674
+v 0.01340262 -0.00012430 0.02402421
+v 0.01503210 0.02966138 0.02236024
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+v 0.01573228 -0.00012429 0.02236013
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+v 0.01340262 0.02829743 0.02405961
+v 0.01340262 0.02961660 0.02391442
+v 0.01344233 0.03036273 0.02365246
+v 0.01396961 -0.00012430 0.02384155
+v 0.01436674 0.02961660 0.02328061
+v 0.01504615 0.02961661 0.02236024
+v 0.01422194 0.03036274 0.02308606
+v 0.01560337 -0.00012429 0.02260954
+v 0.01589480 0.01082000 0.02236017
+v 0.01469423 0.01906925 0.02360592
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+v 0.01469423 0.02170460 0.02360326
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+v 0.01469423 -0.00012430 0.02360803
+v 0.01469423 0.00193205 0.02360804
+v 0.01469423 0.00852489 0.02360772
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+v 0.01455431 0.02829743 0.02342680
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+v 0.01588198 0.02434293 0.02236022
+v 0.01585631 0.02530992 0.02236022
+v 0.01583860 0.02565912 0.02236022
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+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_22.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8628958dc46174e49d1e16b659d0037cfa286b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_22.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01464457 0.03286474 0.02981683
+v -0.01641361 0.02832214 0.02981681
+v -0.01923343 0.03286474 0.02981683
+v -0.01570810 0.03286472 0.03604653
+v -0.01670901 0.02832212 0.03604651
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+v -0.01938639 0.03246900 0.02981683
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+v -0.01931656 0.03286474 0.03007541
+v -0.01960475 0.03286472 0.03604653
+v -0.02014067 0.02832212 0.03604651
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+v -0.01952605 0.03284162 0.03087921
+v -0.01951996 0.03286474 0.03089506
+v -0.01965685 0.03286472 0.03535983
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+v -0.01972335 0.03226844 0.03604653
+v -0.02011296 0.02898466 0.03604652
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+v -0.01983031 0.03093538 0.03007540
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+v -0.01971504 0.03234271 0.03135063
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+v -0.01967569 0.03286472 0.03498721
+v -0.01986301 0.03225332 0.03403827
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+v -0.02030638 0.02832213 0.03271791
+v -0.01969453 0.03286473 0.03271793
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+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_23.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fd21e23887d4762e823324f05de87734f689024
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_23.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00213438 -0.03072881 0.02251811
+v 0.00213438 -0.03072881 0.02235985
+v 0.00194679 -0.03072881 0.02262590
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+v -0.00319883 -0.03761492 0.02235982
+v -0.00210207 -0.03769054 0.02235982
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+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_24.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afad95c3414a4059bb7b6a13070a3736a0ff8a3b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_24.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01715760 0.00165783 0.02412072
+v -0.01709381 0.00165783 0.02405643
+v -0.00850343 0.00165783 0.02412072
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_25.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cd71c2b8bd662e5e0a3e29d778656bab3f96e79
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_25.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_26.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce2df41573feb54d086eb438e8edde33e859c0bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_27.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b74d0a5c6ada1e7f2f2e33c381f6fc4130b1181e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_27.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_28.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f80f00868eabd9fccd2ca735448974d95172a18a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_28.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00905186 -0.03115910 0.02235985
+v 0.01454817 -0.03115910 0.02235985
+v 0.01031147 -0.03115911 0.02333935
+v 0.01236882 -0.00012728 0.02338736
+v 0.01157243 -0.00012727 0.02235996
+v 0.01462995 -0.03103152 0.02235985
+v 0.01419355 -0.03064575 0.02305511
+v 0.01405746 -0.03115910 0.02285647
+v 0.01055414 -0.03115911 0.02351086
+v 0.01282198 -0.00012728 0.02366674
+v 0.01573203 -0.00012727 0.02235996
+v 0.01506368 -0.02971018 0.02235985
+v 0.01437656 -0.02971019 0.02329011
+v 0.01347894 -0.03106191 0.02344788
+v 0.01344743 -0.03115911 0.02342711
+v 0.01198336 -0.03115911 0.02403595
+v 0.01340252 -0.00012728 0.02402417
+v 0.01589962 -0.01125390 0.02235992
+v 0.01560332 -0.00012727 0.02260953
+v 0.01510390 -0.02957653 0.02235985
+v 0.01545785 -0.02839187 0.02235986
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+v 0.01340252 -0.02971019 0.02392256
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+v 0.01340252 -0.02707358 0.02407080
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+f 1 6 2
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+f 51 53 52
+f 53 58 54
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+f 54 59 55
+f 55 59 57
+f 55 57 56
+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_29.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c2522cd069232dbe46ea0e2d72bd27dcf850d3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_29.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01716517 -0.01652482 0.02412065
+v -0.01544631 -0.01257011 0.02236009
+v -0.01544532 -0.01520658 0.02236008
+v -0.01716418 -0.01784306 0.02412064
+v -0.01715823 0.00165500 0.02412072
+v -0.01543938 -0.01222776 0.02236010
+v -0.01709384 0.00165500 0.02405643
+v -0.01707303 0.00165500 0.02403609
+v -0.01544334 -0.01784305 0.02236007
+v -0.01716220 -0.01844512 0.02412064
+v -0.00850352 0.00165500 0.02412072
+v -0.01514118 0.00165501 0.02236015
+v -0.01540668 -0.01844511 0.02236007
+v -0.01707600 -0.01844512 0.02403377
+v -0.01056813 -0.01844512 0.02412064
+v -0.00704521 -0.00334444 0.02266933
+v -0.00704521 -0.00198095 0.02257574
+v -0.00704521 -0.00174485 0.02254730
+v -0.00704521 -0.00113099 0.02236669
+v -0.00704521 -0.00110934 0.02236014
+v -0.00771889 0.00165501 0.02236015
+v -0.00836383 -0.00334445 0.02412070
+v -0.00916233 -0.01844511 0.02236007
+v -0.01050869 -0.01844512 0.02411667
+v -0.01050472 -0.01842741 0.02412064
+v -0.00810724 -0.01257012 0.02412066
+v -0.00799430 -0.01257012 0.02394486
+v -0.00704521 -0.01520658 0.02238421
+v -0.00704521 -0.01551941 0.02236008
+v -0.01021841 -0.01844512 0.02379851
+v -0.00739889 -0.01639299 0.02236008
+v -0.00866797 -0.01624937 0.02412065
+v -0.00823999 -0.01517904 0.02412065
+v -0.00831231 -0.01553516 0.02412065
+f 1 2 3
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+f 1 10 15
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+f 1 32 34
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+f 29 34 31
+f 30 31 32
+f 31 34 32
+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_3.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47dc4028e506d63f1466cb7b5abaa35e8401c0ab
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_3.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00856363 -0.00554641 0.05235135
+v -0.00734563 -0.00554641 0.05220324
+v -0.00942483 -0.00554641 0.05202366
+v -0.00942547 -0.00597989 0.05202366
+v -0.00856363 -0.00597989 0.05235058
+v -0.00734627 -0.00597989 0.05220247
+v -0.00673085 -0.00597989 0.05121482
+v -0.00673021 -0.00554641 0.05121482
+v -0.01328611 -0.00554640 0.04974216
+v -0.01328611 -0.00583040 0.04974293
+v -0.00942034 -0.00730027 0.05201905
+v -0.01328611 -0.00948262 0.04974599
+v -0.01328611 -0.01211840 0.04974751
+v -0.01328611 -0.02575319 0.04974670
+v -0.00856363 -0.00730027 0.05234289
+v -0.00736360 -0.00730027 0.05219862
+v -0.00675075 -0.00730027 0.05121481
+v -0.00748552 -0.02839146 0.04857255
+v -0.00746756 -0.02707357 0.04857255
+v -0.00777879 -0.03099733 0.04721884
+v -0.00732445 -0.01125393 0.04857261
+v -0.00725322 -0.00554640 0.04989334
+v -0.00736937 -0.00993604 0.04857261
+v -0.01328611 -0.00554639 0.04548996
+v -0.01328611 -0.02707357 0.04972673
+v -0.01328611 -0.02797293 0.04970064
+v -0.01243903 -0.02707357 0.05006516
+v -0.00856363 -0.00861816 0.05226845
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+v -0.01243903 -0.02839146 0.05000760
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+v -0.01249935 -0.03099734 0.04951031
+v -0.01114723 -0.03099734 0.04980730
+v -0.01270406 -0.03099734 0.04944585
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+f 52 59 56
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+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_30.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c0e7dc95ac715721b80380bba329f9e527185b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_30.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00751666 -0.03072881 0.02236003
+v -0.00863467 -0.03072882 0.02337552
+v -0.00485973 -0.03257136 0.02236002
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+v -0.00936491 -0.03072882 0.02399961
+v -0.00485973 -0.03360897 0.02335018
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+v -0.00955714 -0.03072882 0.02412060
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+v -0.00545298 -0.03718258 0.02236000
+v -0.01247921 -0.03237369 0.02236002
+v -0.01559351 -0.03160894 0.02412059
+v -0.01567416 -0.03150395 0.02412059
+v -0.00597995 -0.03498359 0.02402148
+v -0.00942236 -0.03102890 0.02412060
+v -0.00948533 -0.03122527 0.02412060
+v -0.00986205 -0.03226935 0.02412059
+v -0.01119991 -0.03342556 0.02412059
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+v -0.01316085 -0.03322336 0.02412059
+v -0.00597995 -0.03700630 0.02236000
+v -0.01049176 -0.03431669 0.02236001
+v -0.01549630 -0.03169773 0.02412059
+v -0.01333650 -0.03316049 0.02412059
+v -0.00629038 -0.03688834 0.02236000
+v -0.00981455 -0.03492460 0.02236001
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+v -0.01362595 -0.03301726 0.02412059
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+v -0.00851315 -0.03595314 0.02236001
+v -0.01436061 -0.03257850 0.02412059
+v -0.01405791 -0.03277617 0.02412059
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+f 1 7 16
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+f 1 27 31
+f 1 31 35
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+f 1 36 32
+f 1 32 28
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+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 37
+f 34 38 35
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_31.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca91686b5927ffafb95f7c5db01ff5cb38d259f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_31.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01716281 -0.01844512 0.02412064
+v -0.01056785 -0.01844512 0.02412064
+v -0.01712126 -0.01844512 0.02407893
+v -0.01715620 -0.02443787 0.02412062
+v -0.01050836 -0.01844512 0.02411667
+v -0.01051875 -0.01845954 0.02412064
+v -0.01540736 -0.01844511 0.02236007
+v -0.01715431 -0.02558496 0.02412062
+v -0.01021846 -0.01844512 0.02379851
+v -0.00955651 -0.03072882 0.02412060
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+v -0.00936577 -0.03072882 0.02399961
+v -0.00863394 -0.03072882 0.02337552
+v -0.00751684 -0.03072881 0.02236003
+v -0.00916274 -0.01844511 0.02236007
+v -0.01528461 -0.02575449 0.02236005
+v -0.01707121 -0.02575450 0.02403823
+v -0.01715337 -0.02575450 0.02412062
+v -0.01614580 -0.03072882 0.02412060
+v -0.01380301 -0.03072881 0.02236003
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_32.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2602d0e03bf3ca135c44c2489f44c937084b5780
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_4.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04de999290def03d4f0bb7bf165483a2444b11a7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_4.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_5.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e705d2c107205708ad7497dd3dc39afa7ec1a89f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_5.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_6.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea175007dfc8e01f0bb8871dd6a8cfca4c03ef76
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_6.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_7.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ef696e5c1eec3fadcbbdb6be79df1673bb5814
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_7.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_8.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f282d48fb0559e8646945d00c099600a78b96215
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_8.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_9.obj b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/mjcf/mesh/dental_floss_034_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/textures/material_0.png b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/video.mp4 b/dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/video.mp4
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