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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/caption_candidates.json b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/caption_candidates.json
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/caption_candidates.json
@@ -0,0 +1,26 @@
+{
+  "raw": "soap_dish",
+  "uuid": "02754f95c1ea5a74bb8026ea3d67670a",
+  "candidates": [
+    "brown soap dish with curved edges",
+    "dark wooden soap dish with base",
+    "soap dish with wavy rim design",
+    "rounded soap dish with flared sides",
+    "soap dish with smooth brown finish",
+    "scalloped soap dish with wide base",
+    "soap dish with flowing wave pattern",
+    "dark soap dish with pedestal base",
+    "soap dish with rippled edge design",
+    "brown soap dish with flared top",
+    "soap dish with symmetrical wave edges",
+    "soap dish with textured brown surface",
+    "wide soap dish with curved pedestal",
+    "soap dish with deep bowl shape",
+    "soap dish with rounded wave contours",
+    "dark soap dish with smooth curves",
+    "soap dish with scalloped bowl design",
+    "soap dish with elevated curved base",
+    "brown soap dish with flowing contours",
+    "soap dish with wide scalloped rim"
+  ]
+}
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/interaction.json b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/interaction.json
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/interaction.json
@@ -0,0 +1,71 @@
+{
+    "interaction": {
+        "active": {
+            "place": {
+                "body": [
+                    {
+                        "xyz": [
+                            0.00116799958050251,
+                            0.00011745095252990723,
+                            -0.0035941051319241524
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ]
+                    }
+                ]
+            }
+        },
+        "passive": {
+            "pick": {
+                "body": [
+                    {
+                        "xyz": [
+                            0.00116799958050251,
+                            0.00011745095252990723,
+                            -0.0035941051319241524
+                        ],
+                        "direction": [
+                            -1.0,
+                            -0.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            1.0,
+                            0.0
+                        ],
+                        "dir_axis": "-x",
+                        "ref_axis": "+y"
+                    },
+                    {
+                        "xyz": [
+                            0.00116799958050251,
+                            0.00011745095252990723,
+                            -0.0035941051319241524
+                        ],
+                        "direction": [
+                            -0.0,
+                            -1.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ],
+                        "dir_axis": "-y",
+                        "ref_axis": "+x"
+                    }
+                ]
+            }
+        }
+    }
+}
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1636eae291201235d6cef75ec3cfd334b8b7766b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_003_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd soap_dish_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97654d644f019df2071d86676479510f3236d019c2e6957a03e29ae82402da1d
+size 14125593
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.glb b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 17586892
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new file mode 100644
index 0000000000000000000000000000000000000000..97a0e3906e0de87f35a10d93a89b5fc2b374a160
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.mtl
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+newmtl soap_dish_003_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/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2561b9a28a780e65e5d523f9b7cd686b6c87dd67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.obj
@@ -0,0 +1,111236 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_003_geometry_Looks_material_0
+v 0.00812400 0.00975819 -0.05242296
+v 0.00812400 0.00975819 -0.05242296
+v 0.00791000 0.01020219 -0.05268596
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+v 0.00907200 0.01037919 -0.05253696
+v 0.00907200 0.01037919 -0.05253696
+v 0.00273700 -0.00081485 -0.04050400
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+v 0.00284300 -0.00040385 -0.04144200
+v 0.00162600 -0.00085385 -0.04029800
+v 0.00083700 -0.00048085 -0.04102300
+v 0.00179900 -0.00112385 -0.03962900
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_collision.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7eeb40db4597a746c269876f73fc75d4520986
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_collision.obj
@@ -0,0 +1,21897 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:97654d644f019df2071d86676479510f3236d019c2e6957a03e29ae82402da1d
+size 14125593
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7247fcd80c1603064ba0dfb7beb18463471ce3b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:97654d644f019df2071d86676479510f3236d019c2e6957a03e29ae82402da1d
+size 14125593
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..397f702f111286fe17f12184dc571f3ba6987af5
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+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89663c8413b0440c3fb12f9b090799ad3e837e05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision.obj
@@ -0,0 +1,21897 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_0.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cab20b44d673a4aac32a555df47d58147a3121f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_1.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c84defde65026d2efa0b4cf150888f737602018
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_1.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_10.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..993aaed531d3b92327ef175ee99e4b2857d8c0c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_10.obj
@@ -0,0 +1,643 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_11.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7092ef2d2070b6d3ef8880c041b89ecb12bbb787
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_12.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1a30d2fe13ff3f6c3444b7a88dd935e326216e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_12.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_13.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f9239fcc76627cb62646a074f205600ed54dc4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_13.obj
@@ -0,0 +1,847 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_14.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae53e9bd460f1883b84de641efb76113b9af5820
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_14.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_15.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6c5e3949e7315819cae8deef98c4ea7210a3f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_15.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_16.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce20013f2f338e579317da22f5018708ec75c49a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_16.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_17.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9579b524f76f5ac8fa533efa370436eec52c0fc8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_17.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_18.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca4c995c63616210c56eee81414e77aeebf39279
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_18.obj
@@ -0,0 +1,658 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_19.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cdc07e8121d9723646bdd7c3aaef41a92d12bfb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_19.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_2.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..818a577d09a731a7f3e474904b777a69110848fa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_20.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1ab5c18e498498d8e001d59afe0930fc107b77
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_20.obj
@@ -0,0 +1,115 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_21.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc2fb05e5460c25ec24f64ec6b21334147577bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_21.obj
@@ -0,0 +1,904 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_22.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48b376ef2c5449b413fdd3d9d4b6335a4a93551c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_22.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_23.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60015483b0545eaed86157d6097ed0bb63c75758
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_23.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_24.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e63d0640799513a5320bf884049ce32d134de6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00096340 -0.01213234 -0.02255668
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+
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_25.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70689d50db2d3be1d2d3b4d25a7b9c069562be88
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_25.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_26.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31420673e6413fe3649dc538d3690e4c2029b9e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_26.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_27.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d07cbebb62e370c7abc8d33a514b929ce6fbd53e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_27.obj
@@ -0,0 +1,1051 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_28.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..356219d5c7bc276830b6a09e36d7333371722d0b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_28.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_29.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da196cff441c3e4ca11eeea11432b3f66880ab57
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_29.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_3.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b423f1de272bdab2bbadadcc53c7b1d780ab8f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_3.obj
@@ -0,0 +1,607 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_30.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15986223101f771cf1f2cb8ee0cc7a7037dc9c47
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_30.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_31.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5074e1acafeb84446ad1921817db48f67768a58f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_31.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_32.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba00c53e009c48f523f243bd4b244f6fef6226b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_32.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_33.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1f370a6748e2cd9db41d7397512663e089e56a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_33.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_34.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..773401f4bd8da76e41cac65299302ea98c4eb842
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_34.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_35.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1bd6b3b08cf57fddae1da4811f29268f87becf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_35.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_36.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb5f87fb27c5d676144986f215f2f1287d36fd8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_36.obj
@@ -0,0 +1,754 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_37.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9146dfd4927a03d3c74e9cb1669725f50bed947
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_37.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_38.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af3538a551db69ad1d819793c26285ab744adbe0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_38.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_39.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f234a2a233791af2273a197e64d4a5fb342df1a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_39.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_4.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0183a0b237175b8a2eb41aa71b2fba2c4cea932
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_40.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c32c460fc55213245dc98ecfc5fe39980879ef0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_40.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_41.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db80aa0bed1931638731942989c4818d767ad8de
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_41.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_42.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e0631a50716d938817281dc1d2b9d694284a52
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_42.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_5.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ad9efd53e0781bb7a45cf79196d6a2f85bd03e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_6.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b053b76383d6295b9c15e43c7ec4977d63b7fd5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_6.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_7.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beb91891a38dd7e08d143b8f676a31cf68bbd717
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_7.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_8.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d371036df9598cf82016923073feb1b4bb5b625
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_9.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52a6b90f13e65678d159f5257f3e37abd960e0d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/soap_dish_003.xml b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/soap_dish_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f2952861f32a2d45f879a801d169736dcc277f01
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/soap_dish_003.xml
@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_003">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/soap_dish_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soap_dish_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/soap_dish_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/soap_dish_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/soap_dish_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/soap_dish_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/soap_dish_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/soap_dish_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/soap_dish_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/soap_dish_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/soap_dish_003_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/soap_dish_003_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/soap_dish_003_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/soap_dish_003_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/soap_dish_003_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/soap_dish_003_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/soap_dish_003_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/soap_dish_003_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/soap_dish_003_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/soap_dish_003_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/soap_dish_003_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/soap_dish_003_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/soap_dish_003_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/soap_dish_003_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/soap_dish_003_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/soap_dish_003_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.urdf b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c076244e4baca648403faf9304b14b93e864b17f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_003">
+   <link name="soap_dish_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_003.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/soap_dish_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>02754f95c1ea5a74bb8026ea3d67670a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>wooden soap dish</name>
+         <color>brown</color>
+         <shape>irregular</shape>
+         <material>wood</material>
+         <description>curved wooden soap dish with pedestal base</description>
+         <min_height>0.0517</min_height>
+         <max_height>0.0517</max_height>
+         <real_height>0.0517</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225229</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.usd b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0db95376b7848fc15cf424ab4f7aee78d56d5cf7c966acb99dd4235345700970
+size 4983088
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/textures/material_0.png b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/video.mp4 b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..441dc39311b9a8c03375e378572e39306d8a7ef7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/video.mp4
@@ -0,0 +1,3 @@
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+size 323635