diff --git a/.gitattributes b/.gitattributes
index f5927af67813c8881dd428188a75c492220246c9..a17c70891736a7373c27a3d639a92fc3949bcba0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2367,3 +2367,5 @@ dataset/bathroom_supplies/bath_products/9a000fef90505eabbe3a86d05edfe66f/hand_sa
 dataset/bathroom_supplies/bath_products/9a000fef90505eabbe3a86d05edfe66f/mesh/hand_sanitizer_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2f592d860ab944720d8ab284357d39326ef6f35
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_030_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
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6104f19936bb33ac3916f2f03466095f5fef94a68780d665ee01e4f229e9af9d
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.glb b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.glb
@@ -0,0 +1,3 @@
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+size 14459436
diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.mtl b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..03f80c8ce07e74b9d4676ad82b5fb615b92013d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_030_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
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa43d3c2b11483491f7e98a8fd7c713b9c3943a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.obj
@@ -0,0 +1,108874 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_030_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030_collision.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af2fa0df1e6ce39c5da94a5a72ecf4f00982f244
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030_collision.obj
@@ -0,0 +1,25646 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a3738623bbc9016656476f4e047e97ba8fda0ee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6654e1c29920b116b81b16cef02cf7322d42cfe9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision.obj
@@ -0,0 +1,25646 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_0.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d65583abc1274834b964b5cff02dd850f9196867
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_1.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60cacfb2d05b23630220d7a5bbc83f2c790bbf5a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_10.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18db98cf8cef383876109170c59d082b278ef22a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_10.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_11.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26e93736c998138d30f878b03a1ce0bc9795878e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_11.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_12.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6533fae9fceccd3ea25fb30f041fdf8a752f9b4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_13.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..226432152b6ad076c65c0111ecd0b2149b7fdf19
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_13.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_14.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1def2c2e0f586e8b17e2825cda40095bf371a57
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_14.obj
@@ -0,0 +1,1033 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_15.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..497b8bb28a91942d2505374cf7e8039e0e503a59
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_15.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_16.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c968351dcf403e7678bcc6210a06e8915da18054
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_16.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_17.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3df3de76e481038f38ea75b13f6074b6e8eb878
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_17.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_18.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ee1b9175de01a42e192a4a1363f26a04b849ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_18.obj
@@ -0,0 +1,631 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_19.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972d24649566f5e15bfd383a7596cca2c050ea5f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_19.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_2.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac479bfa5d859b2cedd3bf26666f922fa3fd64c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_20.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bbe201a3075b96f1868448d92c02a6464b1d96f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_20.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_21.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853293d156b55133e6d83b7b1353109815bfa4ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_21.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_22.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e192c680e3749270224e4b9465d6cd5292f692f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_22.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_23.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1307ea20ef84c347de272c35286b4c9691b214d5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_23.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_24.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ecf7d9db5ef63ff04c094f81b376c61353ef42f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_24.obj
@@ -0,0 +1,688 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_25.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81ad86430d45018b24fb4876fc660a30a387619d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_25.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_26.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44b3aa427cf45a0e9a95425b3a34e90daa58f26f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_26.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_27.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0790b129b5088d2d75b446389f322febdde34db
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_28.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..084d90c4c5df5518c1ca15b3547e6090f4e91e32
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_28.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_29.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bbe96a67da33593214b18820eb4371e0c634f1d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_29.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_3.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d785c0186a16bc80559283593c486d1a09a5268a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_30.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3803615b5a2a26c72d3a8831712a096eeb8dcf17
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_30.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_31.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59487964e7aa703ef085497b247255ec1bdbdef1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_31.obj
@@ -0,0 +1,1102 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_32.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea87d4297b740a2ce0c9dd261f0529aadfd0f67f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_32.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_33.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0590c4edd2f12af410beec9e331b1fd2ce565a70
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_33.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_34.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f989e4090baa8fdf3621bbbf79484ea22b22f1d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_34.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_35.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84d2d8d3f3d1c397a96466fcd723aff3293c1ad1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_35.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_36.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d258b3cb561479819d2fe1f431aacc42162d9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_36.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_37.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff9808f267a429de51e37735ab052db670efea05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_37.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_38.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f17e9886e400371084f14def0694a39cc3d893
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_38.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_39.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..770805136a39875051b28e837fe56a4727fb6d63
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_39.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_4.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8258357159c95b32065deb8d419753099f1d9172
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_40.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034608f175df63f651edaab64b51c099e261727e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_40.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_41.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c926919874f7ca8ce413e6e51a3b2e71bc27ca5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_41.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_42.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9838cc8fcc79e95daa039c4b6ed7fe01af722a8f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_42.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_43.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f01b4148dbbb62378316cc66d27a02f9bee6722
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_43.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.03412391 0.01355605 0.05918381
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_44.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ac1c928c33c128825a64053611888a3cab53fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_44.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_45.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b05c056c0689aad09c765262f23b22a7624b6dc5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_45.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_46.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c90742ffdee48d852dd38298de34bee5dde92d3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_46.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_47.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24b22ff6be9824baafd3ed0d286c4cab563c6f92
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_47.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+v -0.03793603 0.01355265 0.04896938
+v -0.04318919 0.01355263 0.05449755
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+
diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_48.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91a443494369443e68a3807705295833599aa6e2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_48.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02242879 -0.04737257 -0.00513975
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+
diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_49.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe822876cda726f74d3165886f2d7c6cfaba449c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_49.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_5.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8fe6322cf35d3e8ea7e7562506628cfade362e6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_5.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_50.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a1df25e6c8881f45a61f3a1a328f19649e4851
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_50.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_51.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f4f9f53e784104c667698db0392fea909bbefcb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_51.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_52.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cad3ac1548e0dfb6f7bb937e9da4fe52007e5f5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_52.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_53.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3341544d2e90e5cd0239a48fe1c609bf57499b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_53.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_54.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40512a05988d30dc677fe754690532a2fbaf0e48
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_54.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_55.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d99c6e74aeb02c4d18f8b58e20e96ee5c35bf568
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_55.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_56.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33977e5c238cbb1d729930d070ec9859e6b8c17c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_56.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_6.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0bb67f5750bb0c5b8e1ee38da3d8e5bc6050f3d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_6.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_7.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e18ba7bad153979da4d5efe36a591d69e81d29e6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_7.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_8.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eea1324ef52d9cf4a7054287258c4a472b698be9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_8.obj
@@ -0,0 +1,1063 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_9.obj b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec1c5d0db897f430fee216e9c8ee68dbc29ad62
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/mesh/soap_dish_030_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/soap_dish_030.xml b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/soap_dish_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..259c6a1de517dd548e3c959830a3abaa23377c9c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mjcf/soap_dish_030.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_030">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/soap_dish_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_030_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_030_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_030_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_030_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_030_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_030_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_030_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_030_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_030_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_030_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_030_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_030_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soap_dish_030_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/soap_dish_030_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/soap_dish_030_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/soap_dish_030_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/soap_dish_030_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/soap_dish_030_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/soap_dish_030_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/soap_dish_030_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/soap_dish_030_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/soap_dish_030_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/soap_dish_030_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/soap_dish_030_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/soap_dish_030_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/soap_dish_030_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/soap_dish_030_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/soap_dish_030_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/soap_dish_030_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/soap_dish_030_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/soap_dish_030_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/soap_dish_030_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/soap_dish_030_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/soap_dish_030_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/soap_dish_030_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/soap_dish_030_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/soap_dish_030_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/soap_dish_030_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/soap_dish_030_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/soap_dish_030_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/soap_dish_030_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/soap_dish_030_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/soap_dish_030_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/soap_dish_030_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/soap_dish_030_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/soap_dish_030_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/soap_dish_030_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/soap_dish_030_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/soap_dish_030_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/soap_dish_030_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_030">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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_56" 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/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.urdf b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..072131c6f36696069d36eb26e1a4085a79ee28f6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_030">
+   <link name="soap_dish_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_030.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>a6e1a511301b5223b0b2d02b7dea79bd</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>oval wooden soap dish case with hinged slotted lid</description>
+         <min_height>0.0894</min_height>
+         <max_height>0.0894</max_height>
+         <real_height>0.0894</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518150911</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.048243 -0.065277 -0.024605</min>
+            <max>0.059685 0.065720 0.064769</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.usd b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a4206b005dfe8a673e3f043cc1dc06bceb44aa3de8abf7e2cee63eede4f8a6c
+size 4856452
diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/textures/material_0.png b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/video.mp4 b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/video.mp4
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:28d8453dca0dbc917de496fa3d326d23cc3ca065c92661205f6767a99ec5b067
+size 319494