diff --git a/.gitattributes b/.gitattributes
index cb8b81ae2bd8cb515ce1a1b7285afd65ea34e681..9ee9ebc022767d21a6ea1a23600471b54412d4a4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2427,3 +2427,5 @@ dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/hand_sa
 dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..403afe82365b535a92b1ffef3e58f81419ab6f52
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_038_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..649636c108971fb857932ccab325278844fe9591
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/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/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.glb b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3a3d03074ef4415b18939b4bbf3a45f7b51fed80
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.glb
@@ -0,0 +1,3 @@
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+size 15273596
diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.mtl b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e7a61fee405998cf4815978701d77e8185a6be9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_038_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e2245f3d531bdff82e6fc71772c879d44b1b44d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.obj
@@ -0,0 +1,104352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_038_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038_collision.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf89e110e44db958b96caf843c8e7fa054841c3d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038_collision.obj
@@ -0,0 +1,9689 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..649636c108971fb857932ccab325278844fe9591
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d061a6d800e9b5e043bbee3773dd99d4341eb063122536cad50c58b2caaa240
+size 11925044
diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..649636c108971fb857932ccab325278844fe9591
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d061a6d800e9b5e043bbee3773dd99d4341eb063122536cad50c58b2caaa240
+size 11925044
diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6dafe81dd1dcf75f9449001ab42e556204a5b21
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038.obj
@@ -0,0 +1,104352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_038_geometry_Looks_material_0
+v 0.021263 0.089299 -0.025697
+v 0.021263 0.089299 -0.025697
+v 0.019373 0.089476 -0.025429
+v 0.019373 0.089476 -0.025429
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238cd734d319a8c33a16ec4ec307fdbe63710658
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision.obj
@@ -0,0 +1,9689 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_0.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d21e6efcdeec2a4cb437abf94fa7cb4d0c5344
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_1.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f66fb173fa33a9f88eef0ce9071606af25699ddf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_1.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_10.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e998c1cb459afcda6f435a46d0239e11f6688fe7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_10.obj
@@ -0,0 +1,886 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_11.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eabc4eed9c4463d682289989e5b445122cc3f411
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_12.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f4d0db9c47a0fd9ab5251abf516636d7a4c2ab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_12.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_13.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f27130e11a13b648ad9a2c13d3fbb58972c03fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_13.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_14.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfecef9619d9459decb03fced12fdfb565663e39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_14.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_15.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dceb6c0e01154e5e0819ebe3b8f4d74c29a39c40
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_15.obj
@@ -0,0 +1,826 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_16.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8563c2f0ff034e79a83349d884c07c58e1502c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_16.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_17.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8ea88377623b85f86225b9ac75743df40f8f6bc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_17.obj
@@ -0,0 +1,865 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_2.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8be42fbe422327781afd4988bb21e10e52907341
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_3.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71dd6d51520b0cc137861f503261abdd517bbe94
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_3.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_4.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43fe491797b746dda3cb2f78d6c0376869e0df79
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_4.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_5.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0cf68c7a962a5fa646d8f6621fae889e321fba3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_5.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_6.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fdf846790631bbfbe8ae7788d2ec65ad317799
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_6.obj
@@ -0,0 +1,1825 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_7.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e10c2fc4de892f1768541c71962a1d0876016ad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_7.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00615458 0.08459272 -0.00510615
+v 0.00615458 0.05038040 -0.00510627
+v 0.00615458 0.08283101 0.00385626
+v 0.01655009 0.08283435 0.00385626
+v 0.03134951 0.08283435 0.00385626
+v 0.03427825 0.08282096 0.00385626
+v 0.03720699 0.08275732 0.00385626
+v 0.04013573 0.08318605 -0.00510615
+v 0.00615458 0.05038037 0.00385615
+v 0.04810864 0.05038040 -0.00510627
+v 0.04013573 0.08253962 0.00385626
+v 0.04196997 0.08304539 -0.00510615
+v 0.04810864 0.05038037 0.00385615
+v 0.05034088 0.06957146 -0.00510620
+v 0.04306014 0.08197026 0.00385626
+v 0.04306014 0.08287792 -0.00510616
+v 0.04811296 0.05761470 0.00385617
+v 0.05031493 0.07252213 -0.00510619
+v 0.04810431 0.06957143 0.00385622
+v 0.04811296 0.06662746 0.00385620
+v 0.04537025 0.08080138 0.00385626
+v 0.04377826 0.08265353 -0.00510616
+v 0.04951028 0.07540246 -0.00510618
+v 0.04753760 0.07721770 0.00385624
+v 0.04755490 0.07712058 0.00385624
+v 0.04780582 0.07547276 0.00385624
+v 0.04804375 0.07252210 0.00385623
+v 0.04804808 0.07235798 0.00385623
+v 0.04550436 0.08073104 0.00385626
+v 0.04592398 0.08116982 -0.00510616
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+v 0.04697089 0.07869471 0.00385625
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+v 0.04558655 0.08061717 0.00385626
+v 0.04729102 0.07965597 -0.00510617
+v 0.04801347 0.07847370 -0.00510617
+f 1 2 9
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+
diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_8.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20a26c2b880921261f0896f1c6e4888a3ff5d366
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_8.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.04869431 0.02211960 -0.00514577
+v 0.04811046 0.02211957 0.00385692
+v 0.04905802 -0.00152833 -0.00514586
+v -0.04846478 0.02211960 -0.00514577
+v 0.04812003 0.01058264 0.00385688
+v -0.04805321 0.02211957 0.00385692
+v 0.04812003 0.00746924 0.00385687
+v 0.04811046 -0.00152836 0.00385683
+v -0.04872321 -0.00152833 -0.00514586
+v -0.04806278 0.01664508 0.00385690
+v -0.04805321 -0.00152836 0.00385683
+v -0.04806278 0.01648073 0.00385690
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 12
+f 2 12 11
+f 2 11 8
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+f 3 7 8
+f 3 8 11
+f 3 11 9
+f 4 9 6
+f 6 9 10
+f 9 11 12
+f 9 12 10
+
diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_9.obj b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c48a6ca919e2acf1bb18f9a75dad4449d2fd370
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/mesh/soap_dish_038_collision_9.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00378585 0.08733085 -0.00288250
+v -0.03305580 0.08281691 0.00385714
+v -0.03029459 0.08282053 0.00385714
+v -0.00070480 0.08284585 0.00385714
+v 0.00615026 0.08283138 0.00385714
+v -0.00085406 0.08704512 -0.00288250
+v -0.04184052 0.08223823 -0.00288252
+v -0.04184052 0.08225991 0.00369485
+v -0.04184052 0.08225991 0.00385714
+v -0.03891405 0.08263969 0.00385714
+v -0.03614751 0.08277351 0.00385714
+v -0.03598759 0.08278075 0.00385714
+v 0.00615026 0.05038037 0.00385703
+v 0.00615026 0.08352223 -0.00288251
+v 0.00142208 0.08604323 -0.00288250
+v 0.00118220 0.08615173 -0.00288250
+v -0.04476698 0.08121826 -0.00288252
+v -0.04200576 0.08219842 0.00385714
+v 0.00615026 0.05038039 -0.00288263
+v -0.04806658 0.05038037 0.00385703
+v -0.04476698 0.08114228 0.00385714
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/soap_dish_038.xml b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/soap_dish_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f3fef36c299cd679562bf7d7b99a8135132850c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mjcf/soap_dish_038.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_038">
+  <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_038.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_038_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_038_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_038_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_038_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_038_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_038_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_038_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_038_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_038_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_038_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_038_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_038_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_038_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_038_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_038_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_038_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_038_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_038_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_038">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.urdf b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b6c193633e1d4bf1f0e62f44a599fa021bda2145
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_038">
+   <link name="soap_dish_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_038.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_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>e391fccd610e51a2b898e66c1a5acd39</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>blue soap dish</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>glass</material>
+         <description>translucent blue rectangular soap dish with raised wavy exterior base</description>
+         <min_height>0.0905</min_height>
+         <max_height>0.0905</max_height>
+         <real_height>0.0905</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170533</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059378 -0.089260 -0.042933</min>
+            <max>0.060622 0.089785 0.047563</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.usd b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.usd
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diff --git a/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/textures/material_0.png b/dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/textures/material_0.png
new file mode 100644
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