diff --git a/.gitattributes b/.gitattributes
index 25492bbe0ad9fc3d40ebcf491cdd75908cb00b2f..54944b776bdd071baee1ae7cd266829da40c0c14 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2455,5 +2455,5 @@ dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/comb_03
 dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/mesh/comb_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/dental_floss_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/mesh/dental_floss_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac/mesh/razor_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac/razor_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mouthwash_cup_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..50ddb2677d135d7894df8befdddc046ab7458ac5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_009_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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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/04a7f8eb8967595aa58126e04ac0c8d2/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/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/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.glb b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..457c17b21e45604b9f1c1b120f0846220a6b9623
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12550656
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.mtl b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e410d7cb85104d95835173f7ea00e7f7ef0c1fe4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.mtl
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+newmtl mouthwash_cup_009_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/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2fb63cb0fa00c8215eee2636cdbceefea11b62
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009.obj
@@ -0,0 +1,109744 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouthwash_cup_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009_collision.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc51dd2f26a1b22281dbc6e6dfcbc94c5faee93
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mesh/mouthwash_cup_009_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0796de062de3f7531d0cb63179a6c9e761aa652
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision.obj
@@ -0,0 +1,35451 @@
+# https://github.com/mikedh/trimesh
+
+o mouthwash_cup_009_collision.obj
+v 0.02781511 0.02444604 -0.03101356
+v 0.03243525 0.01736019 -0.03101359
+v 0.03546469 0.01736015 -0.01929137
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_0.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20dcd7fea241608e041c7838eae36071e1d387b9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_0.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_1.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed849a20d0572a52efcf92f753ee6779c6e11da3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_1.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_10.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..650d058d17e14b2118ea523f0d5c953e86927758
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_10.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_11.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e170456210a991d3b3b2e68dc0e5fe3715b69f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_11.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_12.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef905a0d39c43a28a6b00989ec2e7633ef425c2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_12.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_13.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e223dbb86a805ce34ba5fc4ba4f2accbb431f482
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_13.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_14.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..257444a82d370a4b9f7744dbc4db2ef505c9707f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_14.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_15.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ef91508d03e3c625eb87826c651fa3754959e31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_15.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_16.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f76a9155366321a10f73fc4c3964c5e0feef432
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_16.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_17.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f73753457926d82a2d97934bfcd8ff605ec93873
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_17.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_18.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7434a7146f12e8c2c126c571b8f5f692d5a2e5c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_18.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_19.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02cd73fee77c2996521b0003e75168faffa52148
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_19.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_2.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0a738b390941744b0a9c296fdad477dbc4e6dc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_20.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b69072d63d7670fd44e0ca76076cb5536dc41b77
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_20.obj
@@ -0,0 +1,667 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_21.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcc77ee93b791c435de1e8aad143db55a297339c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_21.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_22.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dbe2037e2bd59cee0af6328f9983b9dd39a31d9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_22.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_23.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77793c117f205b7f4f5c31eff0d1304f9a954d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_23.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_24.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8313e3f1bf1f3f05c3bd6c68ebd7043159c93fb2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_24.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_25.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..937e2cf3be06dfae09f51a8e9a87aca7efe39809
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_25.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_26.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6823063841d4b77cf6d9e27aa4ccc3a05206b028
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_26.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_27.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0fa668030765a6d443fde907084d43d180d9242
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_27.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_28.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee8fd78f66e9dc333e036845bcf79440546af27
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_28.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_29.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3192bf80dac2bb6c3fcaa3baa5fd059ee13da1cc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_29.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_3.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfb0724c93a7df25a666a36d6bc9e5d1aae7e07a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_3.obj
@@ -0,0 +1,826 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_30.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c86bc1f83129b761c411c31958ede389312e47a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_30.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_31.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbd6cdd7cdc7eba29c70633412fc27baebec0a3a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_31.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_32.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13137e5279f6dcc0147567f87459e3029403229e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_32.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.04823628 0.03168652 0.02850396
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+v 0.04806929 0.03168651 0.02916357
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_33.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58ba36e453ad062047e103610192f9b97662f49b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_33.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_34.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e0f688eee8d0d3e8af6ae2813b766896a0ca599
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_34.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.06115802 -0.00043047 -0.00266015
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_35.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..684af4e14fd48e1a590cc2412c0c42ba586a944e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_35.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_36.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5dded3273bccd124574e88c86fdcaa07777d449
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_36.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_37.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292f0c059af07fa9c2d242b835eeae87cdb6fe87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_37.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_38.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de439a8cca62727480c137ef2109e2a4ff98733
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_38.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_39.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421aaa61585e4c59e03cbb04cb08dcf994e41a69
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_39.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_4.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a391f063f33f6918225483777f90993551f9b80e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_40.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..586dbe5f61355b4b392e4241886415a16d00c113
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_40.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_41.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcdec89bbae97f56210e00ed6bea197cfba3da99
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_41.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_42.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a941c4b869b00ad2ee569af6f7cd6c52058bbfbe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_42.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_43.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d83e8125cbad27d4a2bbf20117587ad785b105a6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_43.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_44.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9519cd2f5b2afdd48acb39f56941a5c019a4872c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_44.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_45.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315ecd3a924e1d17f7e26465fcd03c46c5456d97
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_45.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_46.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77c1996260c431ea89e440ec964448b90643b27
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_46.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_47.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d1c8a4dd0f586215730de2282f2de236e5360e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_47.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_48.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98979bfc4115655212eed8d59fca71dd0582449a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_48.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_49.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07d61d96c103acbc994f022d3065bdab6ff5fb23
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_49.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_5.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58ab98f2d73357e78db948d00f00ed00c3065623
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_5.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_50.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d788e7138c10ef50b96137182cc04a35ad7f28ca
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_50.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_51.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97028d975845df83a900f7f0ca7a4cffbd68d7de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_51.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_52.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d6439964ada393b73e7a754c613a685df983b05
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_52.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_53.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9746a8d0406fa1b7f4543944c21cf0447fec8fc2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_53.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_54.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e828fbc344bb3c9226615c7f74605cc5e88b04f1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_54.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_55.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8139a6c8ab8817e43f6374640dba1d6c37e29abe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_55.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_56.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2f0f09fc107ae66961b4ab06ef419848d45c7b7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_56.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04874402 0.02444598 -0.01277564
+v 0.05449858 0.01892768 -0.01277566
+v 0.04791367 0.02444600 -0.01929019
+v 0.03297452 0.02444598 -0.01277564
+v 0.05462168 0.01878896 -0.01277566
+v 0.05447444 0.01891519 -0.01302438
+v 0.05413892 0.01856493 -0.01509641
+v 0.05392167 0.01831523 -0.01620608
+v 0.05429340 0.01736014 -0.01689549
+v 0.05337132 0.01736015 -0.01805045
+v 0.05193268 0.01736015 -0.01923410
+v 0.05185303 0.01736015 -0.01929022
+v 0.03100484 0.02444600 -0.01929019
+v 0.03296969 0.02444598 -0.01278775
+v 0.03715526 0.01736013 -0.01277567
+v 0.05553411 0.01757723 -0.01277567
+v 0.05551238 0.01753700 -0.01302439
+v 0.05500789 0.01736014 -0.01498481
+v 0.05491375 0.01736014 -0.01525330
+v 0.03546558 0.01736015 -0.01929022
+v 0.03116415 0.02444600 -0.01843562
+v 0.03241451 0.02444598 -0.01426349
+v 0.05566204 0.01736013 -0.01277567
+v 0.03210313 0.02444599 -0.01509639
+v 0.03187381 0.02444599 -0.01580939
+v 0.03146588 0.02444599 -0.01714482
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+v 0.03554283 0.01736015 -0.01893691
+v 0.03594352 0.01736014 -0.01716781
+v 0.03597731 0.01736014 -0.01703197
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_57.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bd43c60fc380a5b536f13460550b6ee42824bd5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_57.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03920279 0.03925651 0.01605608
+v 0.03920279 0.03925651 0.02255038
+v 0.03920279 0.04025651 0.01605608
+v 0.03920279 0.04025651 0.02255038
+v 0.04314605 0.03925651 0.01605608
+v 0.04314605 0.03925651 0.02255038
+v 0.04314605 0.04025651 0.01605608
+v 0.04314605 0.04025651 0.02255038
+f 2 4 1
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+f 6 2 5
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+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/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_58.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d4084823be1770e0759b685c86147c78d2022c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_58.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04244403 0.01648798 0.03462899
+v 0.03330427 0.03168500 0.03593619
+v 0.03317911 0.03168500 0.03463414
+v 0.03317911 0.03168500 0.03462905
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+v 0.04244403 0.02968244 0.06035221
+v 0.04244403 0.02216353 0.05753191
+v 0.03629644 0.03168492 0.05755738
+v 0.04051395 0.03168491 0.06016657
+v 0.04244403 0.02954706 0.06032169
+v 0.04244403 0.02340131 0.05825161
+v 0.04157785 0.02471646 0.05829484
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+v 0.04244403 0.02516276 0.05912134
+v 0.04117515 0.02610151 0.05867631
+v 0.04244403 0.02696290 0.05967574
+f 1 2 3
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_59.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35f88c709dd2a0fdb723a77668e88f386d06ccc4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_59.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.02212570 0.03309922 -0.03098653
+v -0.02538141 0.03309919 -0.02131109
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_6.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a050ff2b8076f3e927276fcd67cfeb257542efc5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_60.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4e040ebe93a8a4fb73c053ebfd86610d53ce32
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_60.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_61.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb6baa20926c55c42e3705dedd1697877ac714ad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_61.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01637292 0.02983178 -0.03953938
+v -0.00190917 0.03278695 -0.03953937
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_62.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6daa06667979a96aab86be2f27e6afec4e8ea2d8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_62.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01699087 0.04313400 0.03215420
+v 0.03292672 0.03168650 0.03215416
+v 0.03413380 0.03168646 0.04449886
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_63.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..539b1debb99a7564cfcd5931d22b2992880780be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_63.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
+v -0.00105716 -0.05722485 -0.02131023
+v -0.00102304 -0.05722299 -0.02131023
+v -0.00102304 -0.05722299 -0.02127841
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_64.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c1764335f7abb63b308ac50ea78641eb1920ac
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_64.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_65.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d69cbf19788ba393f119fe98168511afd3d0150
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_65.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_66.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1675842491eab7f0ef53b22773a739f59646345
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_66.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_67.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2beade46a28a23592631d906f79f1593fe111b05
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_67.obj
@@ -0,0 +1,655 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_68.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93e4dc2b67c4fa16be6bbd708dd17a3e948803a1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_68.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_69.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc6ac8869aa791a2c81cbdcd94d57d1bc9e20faf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_69.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_7.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be8e3bc3b868f90fc435ae5f81a91e51de262e9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_7.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_70.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c05e4925b56125d200d8db705368a02994b6fea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_70.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_71.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec9f49a0358f6051aa185872b5a72b16ff9bdbb7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_71.obj
@@ -0,0 +1,727 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_72.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb247ca6f38124c91b672cc15b2f938e56ffc61d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_72.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_73.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f93e3ffafd34b68c69602171118c801535b2cf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_73.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_74.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93427a126ec95d73228fcfe00f95f510e71a65f8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_74.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_75.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e4cbba1eafb607e735349044cdc929a559a61f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_75.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_76.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a91fb11b6fc4c15f5ef1b28dd91fe67fb31bd830
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_76.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_77.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10961a1ac06926a7b6e5bdba6cbdca2684324c94
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_77.obj
@@ -0,0 +1,766 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_78.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e69d7e7f0e94584425980394bb8d029542f7661
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_78.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_79.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1199b5501b3b3b3867debeb6c4ffca1a50341e42
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_79.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.00102192 -0.04769206 0.02844167
+v -0.00099811 -0.05481244 0.02844165
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_8.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7249eef32f4c9d33b7e6bd3587309cec8db38aef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_8.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+v -0.02149015 0.02353468 -0.04111275
+v -0.03029152 0.02353474 -0.05843619
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+v -0.03029152 0.02125459 -0.05826444
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_80.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84fa550c4c65ab44e982a06cceb6eb8ff1c6698c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_80.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_81.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afb406efbdad7d308ac198bb150fc58ecd4d4c68
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_81.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_82.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43e912ad19a90b2668d9a9a1fc84d3b6dd4d1304
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_82.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_83.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78726bc36c44fbbfb70d3c4119a9ce375ffd0178
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_83.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_84.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53d6f940809973c2118ce16b7cdb30e1d4f4bec
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_84.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_85.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd66a4a3378a970a07e618d62e711d69d1e3ad6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_85.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_86.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4543fb3a45ed9b0eef74ba63a194d354a642918d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_86.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_87.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02c16a79402ef9f118e57f2478489750a74c053c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_87.obj
@@ -0,0 +1,634 @@
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_88.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f01ab8b67bd2660b6fa181a55499b793eaa140
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_88.obj
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_89.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0290c4955f47c06643f8c8185b613a10f855819
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_89.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_9.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83dafd0ca28b35f974aa2a7a67a3923e7748ef27
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_9.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_90.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8ac4538fb4ebf89d57f63f45cb9f3f16c77c3d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_90.obj
@@ -0,0 +1,742 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_91.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78cf23d7faf50e4d7180de1a43dbf6d7b11f3603
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_91.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.03714742 0.03168673 -0.03101353
+v 0.03714742 0.03246957 -0.03101353
+v 0.03777433 0.03168673 -0.03101353
+v 0.03714742 0.03168663 -0.00179819
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+v 0.03714742 0.03629596 -0.00888181
+v 0.04153665 0.03168663 -0.00179819
+v 0.03714742 0.03669959 -0.00179818
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+v 0.04009463 0.03339803 -0.00179819
+v 0.03714742 0.03703411 -0.00235869
+v 0.03715645 0.03669321 -0.00179818
+v 0.03714742 0.03711973 -0.00354549
+v 0.03714742 0.03711973 -0.00349687
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_92.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51f200e704c0089c1a90389fad15d1991add610
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_92.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01984746 0.03168673 -0.03101353
+v 0.02781421 0.02444674 -0.03101356
+v 0.03146844 0.02444669 -0.01714540
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+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_93.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e7b2cea4a2762f154b34081a02a7a01e0a9b05
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_93.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.02042299 0.03939048 0.01605766
+v 0.03073916 0.03168656 0.01605764
+v 0.03292819 0.03168650 0.03215416
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+v 0.04402304 0.03774729 0.01605766
+v 0.04811521 0.03168652 0.02637895
+v 0.04416190 0.03193233 0.03215416
+v 0.04806892 0.03168651 0.02916334
+v 0.04131944 0.03618699 0.03215417
+v 0.04823773 0.03168652 0.02850309
+v 0.04810704 0.03196025 0.02851570
+v 0.04769592 0.03286744 0.02789012
+v 0.04609771 0.03572097 0.02634429
+v 0.04365004 0.03916197 0.02220159
+v 0.04314634 0.03939047 0.02012945
+v 0.04544700 0.03668850 0.02427215
+v 0.04430076 0.03799237 0.02012945
+v 0.04599425 0.03565085 0.02427215
+v 0.04769592 0.03286744 0.02709750
+v 0.04761968 0.03268873 0.02571712
+v 0.04803080 0.03190445 0.02638210
+v 0.04814243 0.03168652 0.02658222
+v 0.04721400 0.03367207 0.02638210
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 20
+f 1 20 37
+f 1 37 21
+f 1 21 9
+f 1 9 5
+f 1 5 10
+f 1 10 26
+f 1 26 27
+f 1 27 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 28
+f 2 28 44
+f 2 44 32
+f 2 32 30
+f 2 30 13
+f 2 13 7
+f 2 7 3
+f 3 7 14
+f 3 14 29
+f 3 29 31
+f 3 31 15
+f 3 15 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 10 24 25
+f 10 25 26
+f 11 27 12
+f 12 27 28
+f 13 29 14
+f 13 30 16
+f 13 16 15
+f 13 15 31
+f 13 31 29
+f 16 30 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 17 35 18
+f 18 35 36
+f 18 36 19
+f 19 36 20
+f 20 36 37
+f 21 37 36
+f 21 36 22
+f 22 36 38
+f 22 38 23
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 38
+f 25 38 26
+f 26 38 40
+f 26 40 41
+f 26 41 42
+f 26 42 28
+f 26 28 27
+f 28 42 43
+f 28 43 44
+f 32 44 41
+f 32 41 34
+f 32 34 33
+f 34 41 35
+f 35 41 38
+f 35 38 36
+f 38 41 45
+f 38 45 40
+f 40 45 41
+f 41 44 43
+f 41 43 42
+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_94.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186df89e7f23a94fec801cd529192e73ae5277a0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_94.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.04913027 0.00964391 -0.02461136
+v 0.05049572 0.00478130 -0.02461138
+v 0.04837508 0.00964392 -0.02829942
+v 0.03697546 0.00964391 -0.02461136
+v 0.05079475 0.00270649 -0.02461139
+v 0.04830795 0.00478132 -0.03101363
+v 0.04808368 0.00964393 -0.02961734
+v 0.03697088 0.00964391 -0.02462828
+v 0.03819445 -0.00043039 -0.02461140
+v 0.05090002 0.00063068 -0.02461140
+v 0.04850171 0.00270651 -0.03101364
+v 0.04799977 0.00680979 -0.03101362
+v 0.04755581 0.00964393 -0.03101361
+v 0.03541473 0.00964393 -0.03059936
+v 0.05088781 -0.00043039 -0.02461140
+v 0.03655438 -0.00043037 -0.03101365
+v 0.05089392 0.00005478 -0.02461140
+v 0.04857646 0.00029345 -0.03101365
+v 0.04857951 0.00063070 -0.03101365
+v 0.03531556 0.00964393 -0.03101361
+v 0.04856578 -0.00043037 -0.03101365
+v 0.04857188 -0.00003000 -0.03101365
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 20
+f 1 20 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 19
+f 6 19 18
+f 6 18 22
+f 6 22 21
+f 6 21 16
+f 6 16 20
+f 6 20 13
+f 6 13 12
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 9 14 16
+f 9 16 21
+f 9 21 15
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 14 20 16
+f 15 21 22
+f 15 22 18
+f 15 18 17
+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_95.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1f6f25bf46f9bc38f63ce2c2ffa139783faf9f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_95.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05408908 -0.01823785 0.04109887
+v 0.05408908 -0.01823785 0.04104936
+v 0.05408061 -0.01823786 0.04222767
+v 0.05392597 -0.01920534 0.04196598
+v 0.05392597 -0.01920534 0.04166752
+v 0.05401918 -0.01823785 0.04074524
+v 0.05173981 -0.01823787 0.04701730
+v 0.05163813 -0.01855263 0.04701730
+v 0.05107676 -0.02012789 0.04701730
+v 0.05203639 -0.02375707 0.04226726
+v 0.05202367 -0.02373531 0.04084848
+v 0.05261894 -0.02220356 0.04084849
+v 0.05345569 -0.01999007 0.04092630
+v 0.05375650 -0.01873102 0.04028693
+v 0.05021247 -0.01824072 0.03256638
+v 0.05018917 -0.01823782 0.03256638
+v 0.04295706 -0.01823787 0.04701730
+v 0.05019976 -0.02229931 0.04701729
+v 0.05001546 -0.02792006 0.04233232
+v 0.05080138 -0.02635349 0.04084847
+v 0.05155128 -0.02477243 0.04084848
+v 0.04977185 -0.02329002 0.04701728
+v 0.04934394 -0.02423430 0.04701728
+v 0.05187115 -0.02338428 0.03975221
+v 0.04886095 -0.02220788 0.03256637
+v 0.04983752 -0.01934456 0.03256638
+v 0.04191059 -0.01823782 0.03256638
+v 0.04294647 -0.01823787 0.04688009
+v 0.03244995 -0.03305485 0.03256633
+v 0.03396883 -0.03305490 0.04699320
+v 0.03397518 -0.03305054 0.04701725
+v 0.05002606 -0.02794035 0.04084847
+v 0.04824875 -0.02651597 0.04701727
+v 0.04772762 -0.02748346 0.04701727
+v 0.04608801 -0.03052519 0.04701726
+v 0.04786744 -0.03186981 0.04220782
+v 0.04984388 -0.02759658 0.03970977
+v 0.04813223 -0.02409500 0.03256636
+v 0.04235545 -0.01823784 0.03877762
+v 0.04279395 -0.01823786 0.04482760
+v 0.04265625 -0.01823786 0.04292787
+v 0.04259270 -0.03305485 0.03256633
+v 0.03559997 -0.03305490 0.04701725
+v 0.04945198 -0.02897892 0.04084846
+v 0.04768738 -0.03157825 0.03979179
+v 0.04485724 -0.03243698 0.04701725
+v 0.04440814 -0.03305490 0.04701725
+v 0.04654770 -0.03305489 0.04290519
+v 0.04699255 -0.03305488 0.04108326
+v 0.04701374 -0.03305488 0.04084845
+v 0.04715143 -0.03285326 0.04084845
+v 0.04783354 -0.03181469 0.04084845
+v 0.04858345 -0.03050487 0.04084846
+v 0.04697349 -0.02635781 0.03256635
+v 0.04285538 -0.03270092 0.03256633
+v 0.04603505 -0.02799109 0.03256635
+v 0.04360104 -0.03165945 0.03256633
+f 1 2 6
+f 1 6 16
+f 1 16 27
+f 1 27 39
+f 1 39 41
+f 1 41 40
+f 1 40 28
+f 1 28 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 7 17 31
+f 7 31 43
+f 7 43 47
+f 7 47 46
+f 7 46 35
+f 7 35 34
+f 7 34 33
+f 7 33 23
+f 7 23 22
+f 7 22 18
+f 7 18 9
+f 7 9 8
+f 9 18 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 10 18 22
+f 10 22 23
+f 10 23 19
+f 11 21 24
+f 11 24 12
+f 12 14 13
+f 12 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 25
+f 15 25 38
+f 15 38 54
+f 15 54 56
+f 15 56 57
+f 15 57 55
+f 15 55 42
+f 15 42 29
+f 15 29 27
+f 15 27 16
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 19 32 20
+f 19 23 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 32
+f 20 32 37
+f 20 37 24
+f 20 24 21
+f 24 37 38
+f 24 38 25
+f 27 29 39
+f 28 40 29
+f 29 40 41
+f 29 41 39
+f 29 42 50
+f 29 50 49
+f 29 49 48
+f 29 48 47
+f 29 47 43
+f 29 43 30
+f 30 43 31
+f 32 36 44
+f 32 44 45
+f 32 45 37
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 44
+f 37 45 54
+f 37 54 38
+f 42 55 45
+f 42 45 50
+f 44 53 45
+f 45 56 54
+f 45 53 52
+f 45 52 51
+f 45 51 50
+f 45 55 57
+f 45 57 56
+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_96.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a900dff8f641cd6550da718eb47c5e6a539d8de3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_96.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02779547 -0.02597364 -0.03103791
+v 0.03086540 -0.02597368 -0.01875731
+v 0.03557950 -0.01823618 -0.01875728
+v 0.03265190 -0.01823614 -0.03103788
+v 0.05044573 -0.02597364 -0.03103791
+v 0.04755248 -0.02597368 -0.01875731
+v 0.05061260 -0.01823618 -0.01875728
+v 0.05276965 -0.01823614 -0.03103788
+v 0.05110585 -0.02511543 -0.03103790
+v 0.05021751 -0.02585244 -0.02960005
+v 0.05032057 -0.02597364 -0.03048609
+v 0.05145432 -0.02462535 -0.03103790
+v 0.05134143 -0.02422465 -0.02947863
+v 0.05194511 -0.02349673 -0.03008935
+v 0.05177333 -0.02314072 -0.02870801
+v 0.04895616 -0.02272037 -0.01875729
+v 0.05062732 -0.01823921 -0.01875728
+v 0.05062978 -0.01823618 -0.01876089
+v 0.05266413 -0.01823614 -0.03001840
+v 0.05286290 -0.02012753 -0.03103788
+v 0.05167763 -0.02427086 -0.03103790
+v 0.05201873 -0.02364898 -0.03103790
+v 0.05233775 -0.02272184 -0.03103789
+v 0.05221259 -0.02234993 -0.02947862
+v 0.05197456 -0.02164550 -0.02752863
+v 0.05182732 -0.02121374 -0.02643822
+v 0.05160156 -0.02268246 -0.02752863
+v 0.04982487 -0.02138117 -0.01995951
+v 0.05072548 -0.01823618 -0.01919128
+v 0.05261996 -0.01823614 -0.02960003
+v 0.05270094 -0.02012753 -0.02960003
+v 0.05248744 -0.02224464 -0.03103789
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 20
+f 1 20 32
+f 1 32 23
+f 1 23 22
+f 1 22 21
+f 1 21 12
+f 1 12 9
+f 1 9 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 16
+f 2 16 17
+f 2 17 7
+f 2 7 3
+f 3 7 18
+f 3 18 29
+f 3 29 30
+f 3 30 19
+f 3 19 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 11 10
+f 6 10 9
+f 6 9 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 7 17 18
+f 8 19 20
+f 12 21 14
+f 12 14 13
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 18
+f 16 18 17
+f 18 26 29
+f 18 28 26
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 23 32 24
+f 24 32 31
+f 24 31 25
+f 25 31 26
+f 26 31 29
+f 26 28 27
+f 29 31 30
+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_97.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf3bcf1e54ee6380815870708443ea8eab1f6da
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_97.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00190917 0.04392653 0.00662833
+v 0.00779233 0.04270002 0.00662833
+v 0.00779233 0.04286229 0.00764992
+v -0.00190917 0.04409764 0.00769698
+v -0.00190917 0.05139716 0.00662836
+v 0.00779233 0.05062879 0.00662836
+v 0.00779233 0.04296717 0.00823223
+v -0.00190917 0.04432617 0.00891791
+v 0.00779233 0.04338226 0.01046275
+v -0.00190917 0.05397822 0.01605522
+v -0.00190347 0.05141482 0.00662836
+v 0.00723584 0.05073146 0.00662836
+v 0.00718456 0.05272410 0.01605521
+v 0.00779233 0.05255740 0.01605521
+v 0.00779233 0.04372779 0.01230013
+v -0.00190917 0.04448623 0.00976877
+v -0.00022451 0.05381372 0.01605522
+v 0.00403936 0.05120948 0.00662836
+v 0.00310017 0.05127461 0.00662836
+v 0.00101666 0.05135190 0.00662836
+v -0.00105639 0.05140378 0.00662836
+v -0.00190917 0.04576793 0.01605519
+v 0.00507256 0.05108142 0.00662836
+v 0.00453982 0.05318004 0.01605522
+v 0.00516278 0.05307406 0.01605521
+v 0.00779233 0.04443764 0.01605518
+v 0.00210875 0.05353221 0.01605522
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 22
+f 1 22 10
+f 1 10 5
+f 1 5 11
+f 1 11 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 14
+f 2 14 26
+f 2 26 15
+f 2 15 9
+f 2 9 7
+f 2 7 3
+f 3 7 4
+f 4 7 9
+f 4 9 8
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 8 9 15
+f 8 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 10 22 26
+f 10 26 14
+f 10 14 13
+f 10 13 25
+f 10 25 24
+f 10 24 27
+f 10 27 17
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 15 26 16
+f 16 26 22
+f 17 27 18
+f 18 27 23
+f 23 27 24
+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_98.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b211fddeb0acfac3985ba2c2c8401c32f62b8c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_98.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.01217047 0.04313406 0.01605768
+v 0.02042442 0.03939048 0.01605766
+v 0.02378656 0.03939042 0.03215418
+v 0.01699120 0.04313400 0.03215420
+v 0.03009485 0.04313406 0.01605768
+v 0.03436268 0.03939048 0.01605766
+v 0.03906757 0.03939042 0.03215418
+v 0.03567384 0.04313400 0.03215420
+v 0.03542108 0.04313401 0.03123080
+v 0.03056086 0.04276689 0.01605768
+v 0.03390720 0.03981739 0.01605767
+v 0.03551323 0.04313400 0.03150656
+v 0.03737202 0.04118709 0.03137576
+v 0.03905704 0.03939042 0.03204860
+v 0.03896489 0.03952051 0.03215419
+v 0.03681122 0.04196248 0.03215419
+v 0.03283300 0.04081961 0.01605767
+v 0.03179566 0.04172912 0.01605767
+v 0.03175354 0.04176466 0.01605767
+v 0.03745627 0.04128127 0.03215419
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 9
+f 1 9 5
+f 1 5 10
+f 1 10 19
+f 1 19 18
+f 1 18 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 14
+f 2 14 7
+f 2 7 3
+f 3 7 15
+f 3 15 20
+f 3 20 16
+f 3 16 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 14 15
+f 8 16 13
+f 8 13 12
+f 9 12 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 17 12
+f 13 16 20
+f 13 20 14
+f 14 20 15
+
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_99.obj b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f636dad8089f72b21acba213b9b22ac3d7daee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mesh/mouthwash_cup_009_collision_99.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02781511 0.02444604 -0.03101356
+v 0.03243525 0.01736019 -0.03101359
+v 0.03546469 0.01736015 -0.01929137
+v 0.03100386 0.02444600 -0.01929134
+v 0.05098199 0.02444604 -0.03101356
+v 0.05272956 0.01736019 -0.03101359
+v 0.05185210 0.01736015 -0.01929137
+v 0.04791579 0.02444600 -0.01929134
+v 0.05065356 0.02444604 -0.02954813
+v 0.05146729 0.02382318 -0.03101356
+v 0.05281534 0.01865168 -0.03101358
+v 0.05285211 0.01931199 -0.03101358
+v 0.05263151 0.02072763 -0.03101357
+v 0.05249181 0.02143442 -0.03101357
+v 0.05220994 0.02154539 -0.02946093
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mouthwash_cup_009.xml b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mouthwash_cup_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8ffb246557c53b0574febf15d9efcb13afa71598
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mjcf/mouthwash_cup_009.xml
@@ -0,0 +1,214 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mouthwash_cup_009.urdf b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mouthwash_cup_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a83b1cb20179b0f0309b191374c1938469af5c37
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mouthwash_cup_009.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_009">
+   <link name="mouthwash_cup_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>04a7f8eb8967595aa58126e04ac0c8d2</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>animal-themed cup</name>
+         <color>yellow</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>yellow cup with embossed animal design and wavy texture</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414144244</generate_time>
+         <gs_model>""</gs_model>
+      </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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mouthwash_cup_009.usd b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mouthwash_cup_009.usd
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+size 5007026
diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/textures/material_0.png b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/video.mp4 b/dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/video.mp4
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