diff --git a/.gitattributes b/.gitattributes
index 1ee8f2b2feb0404c90f13715cccadded6b4c3532..af5a4861e7f6e0bfc99a1f676ac9d44f459c50d8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2397,3 +2397,5 @@ dataset/bathroom_supplies/bath_products/a00775e8a1725c8bb74ce8ab3f6dbd00/mesh/fa
 dataset/bathroom_supplies/bath_products/a00775e8a1725c8bb74ce8ab3f6dbd00/mjcf/mesh/facial_cleanser_025.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696/mesh/sponge_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696/sponge_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/soap_dish_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2218808bd7a2b8257aba527d0adaba9f1cbbb844
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_035_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd soap_dish_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..10ee2c5907e6fb767df91c9cdb2c822e6714bf51
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/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/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035.glb b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1d7adae6980196e5561b560c8705c173a833179c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14677460
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035.mtl b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ed16c725e81a247cf61b13ad05132a9e3e9a68f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_035_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e53cadb35dfa91580897e8e2d59608d193f27e0e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035.obj
@@ -0,0 +1,122110 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_035_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035_collision.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2c5058f466ce669c00d5bf53a88d2b1869fbe6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mesh/soap_dish_035_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035.obj
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d89c1a8c3948b3d6e7bfa5190a8e2d3206f92d45
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision.obj
@@ -0,0 +1,18830 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_0.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c02bea5d2eba613c38ba20435461a3574c5051
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_1.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0264bee576cb36b7a40e1381f52678fd0cd856d9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_10.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..679dc64026a57b1d73646cc0ea22a253f145a29b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_10.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_11.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1816dc0398c4678e3d336a23da0c185b6e39880
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_11.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+f 2 5 10
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+f 2 30 31
+f 2 31 12
+f 2 12 6
+f 3 7 8
+f 4 9 28
+f 4 28 40
+f 4 40 46
+f 4 46 42
+f 4 42 29
+f 4 29 10
+f 4 10 5
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+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 11
+f 7 18 8
+f 8 19 20
+f 8 18 21
+f 8 21 22
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+f 9 27 38
+f 9 38 28
+f 10 29 43
+f 10 43 30
+f 11 17 26
+f 12 31 32
+f 12 32 13
+f 13 32 33
+f 13 33 34
+f 13 34 35
+f 13 35 14
+f 14 35 15
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+f 16 35 17
+f 17 35 36
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+f 29 42 43
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+f 37 38 39
+f 40 41 45
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+f 43 46 44
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_12.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad8f0f95fd339b5932492fcaf1d933aed93a701
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_12.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.03351432 0.07345208 -0.03179324
+v -0.01857447 0.07391547 -0.00463882
+v -0.02353473 0.07397120 -0.00463882
+v -0.03351432 0.07419323 -0.00463882
+v -0.03351432 0.08149273 -0.03179321
+v -0.01392914 0.07348922 -0.03179324
+v -0.01782977 0.07391716 -0.00463882
+v -0.03351432 0.08117350 -0.00463879
+v -0.03351432 0.08136602 -0.01316575
+v -0.03283851 0.08143525 -0.01383291
+v -0.00145958 0.08207695 -0.03179321
+v -0.01287278 0.07349682 -0.03179324
+v -0.00716454 0.07390957 -0.00819526
+v -0.01001866 0.07395768 -0.00463882
+v -0.03283851 0.08138289 -0.01101274
+v -0.03351432 0.08132717 -0.01034558
+v -0.02427943 0.08147659 -0.00463879
+v -0.00145958 0.08183541 -0.00819523
+v 0.00000029 0.08183878 -0.00819523
+v -0.00040322 0.08207273 -0.03179321
+v -0.01001866 0.07352215 -0.03179324
+v 0.00000029 0.07388849 -0.01383294
+v 0.00000029 0.07397459 -0.01101277
+v 0.00000029 0.07404128 -0.00957212
+v 0.00000029 0.07411726 -0.00819526
+v 0.00000029 0.07438488 -0.00463882
+v 0.00000029 0.08169019 -0.00463879
+v 0.00000029 0.08206935 -0.03179321
+v 0.00000029 0.07366145 -0.03179324
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 9
+f 1 9 5
+f 1 5 11
+f 1 11 20
+f 1 20 28
+f 1 28 29
+f 1 29 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
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+f 2 14 26
+f 2 26 27
+f 2 27 17
+f 2 17 8
+f 2 8 4
+f 2 4 3
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+f 5 9 10
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+f 6 12 13
+f 6 13 7
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+f 8 17 15
+f 9 16 10
+f 10 16 15
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+f 10 17 11
+f 11 18 19
+f 11 19 20
+f 11 17 18
+f 12 21 13
+f 13 22 14
+f 13 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 17 27 18
+f 18 27 19
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+f 19 26 25
+f 19 25 24
+f 19 24 23
+f 19 23 22
+f 19 22 29
+f 19 29 28
+f 19 28 20
+f 21 29 22
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_13.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faaaa57d16f4e89d5b6421d94abe4c68fb27e0d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_13.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.04319932 -0.06657785 -0.03355811
+v 0.04596865 -0.05384703 -0.03355807
+v 0.05396258 -0.06657785 -0.03355811
+v 0.04433984 -0.06657793 -0.00988751
+v 0.04690628 -0.05384713 -0.00463929
+v 0.04685699 -0.05384713 -0.00608013
+v 0.05490823 -0.05384703 -0.03355807
+v 0.05446349 -0.06461495 -0.03355811
+v 0.05434428 -0.06353826 -0.00587352
+v 0.05299629 -0.06657795 -0.00463933
+v 0.04446592 -0.06657794 -0.00824568
+v 0.04475019 -0.06657795 -0.00463933
+v 0.05448069 -0.05384713 -0.00463929
+v 0.05488760 -0.05887205 -0.03355809
+v 0.05480393 -0.06174350 -0.03355810
+v 0.05440389 -0.05584367 -0.00463930
+v 0.05405199 -0.06178348 -0.00463932
+v 0.05377001 -0.06460259 -0.00463933
+v 0.05360610 -0.06508490 -0.00463933
+f 1 2 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 3
+f 1 3 10
+f 1 10 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 13
+f 2 13 7
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 10
+f 5 10 19
+f 5 19 18
+f 5 18 17
+f 5 17 16
+f 5 16 13
+f 7 13 14
+f 8 15 9
+f 9 13 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 9 15 14
+f 9 14 13
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_14.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f5b506391a4949541fd7ad3d41c0a75933e2569
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_14.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.03275835 0.06017244 0.03808852
+v 0.03277524 0.06016067 0.03808936
+v 0.03278580 0.06017244 0.03808936
+v 0.04552278 0.06017247 0.02955077
+v 0.04576138 0.00002765 0.02955055
+v 0.03622766 0.00002762 0.03808914
+v 0.05056309 0.06017244 0.03808936
+v 0.05388881 0.06017247 0.02955077
+v 0.05432168 0.00002765 0.02955055
+v 0.05137604 0.00002762 0.03808914
+v 0.05090094 0.06017244 0.03767062
+v 0.05090727 0.05886546 0.03808936
+v 0.05356996 0.06017247 0.03116053
+v 0.05397116 0.05977214 0.02955077
+v 0.05423511 0.00002765 0.03021836
+v 0.05432801 0.04164509 0.02955070
+v 0.05204330 0.00002762 0.03685800
+v 0.05137815 0.00718660 0.03808917
+v 0.05128947 0.06017244 0.03703541
+v 0.05105086 0.05887723 0.03790715
+v 0.05116700 0.05696974 0.03808935
+v 0.05309697 0.06017246 0.03282796
+v 0.05384024 0.05868887 0.03105021
+v 0.05404717 0.05939535 0.02955077
+v 0.05409996 0.00002765 0.03091040
+v 0.05423933 0.04738522 0.03023942
+v 0.05396482 0.05025822 0.03165111
+v 0.05432801 0.05313124 0.02955075
+v 0.05423933 0.05025823 0.03024194
+v 0.05326167 0.00002763 0.03409733
+v 0.05326589 0.01579975 0.03409739
+v 0.05204752 0.01579974 0.03685388
+v 0.05137815 0.00755161 0.03808917
+v 0.05204752 0.04738519 0.03685817
+v 0.05173712 0.06017245 0.03626062
+v 0.05186804 0.05887724 0.03649715
+v 0.05125991 0.05616318 0.03808935
+v 0.05269577 0.06017245 0.03409755
+v 0.05294494 0.05887724 0.03409755
+v 0.05320044 0.05600423 0.03409754
+v 0.05393526 0.05600424 0.03152744
+v 0.05418443 0.05761149 0.02995696
+v 0.05421188 0.05788819 0.02955076
+v 0.05395849 0.00002764 0.03162753
+v 0.05423933 0.05313124 0.03023778
+v 0.05396060 0.05313123 0.03164779
+v 0.05327012 0.05025821 0.03409751
+v 0.05327012 0.04738520 0.03409750
+v 0.05361642 0.00002764 0.03284195
+v 0.05431535 0.05423806 0.02955075
+v 0.05204752 0.05025820 0.03685818
+v 0.05137604 0.05062322 0.03808933
+v 0.05127680 0.05600422 0.03808935
+v 0.05200740 0.05600422 0.03677128
+v 0.05204330 0.05313121 0.03685068
+v 0.05326378 0.05313122 0.03409753
+v 0.05421610 0.05600425 0.03011744
+v 0.05429001 0.05600425 0.02955076
+v 0.05136759 0.05313121 0.03808934
+v 0.05135915 0.05346090 0.03808934
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+f 1 3 7
+f 1 7 11
+f 1 11 19
+f 1 19 35
+f 1 35 38
+f 1 38 22
+f 1 22 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 6
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+f 2 6 10
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+f 2 18 33
+f 2 33 52
+f 2 52 59
+f 2 59 60
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+f 2 53 37
+f 2 37 21
+f 2 21 12
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+f 2 7 3
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+f 4 14 24
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+f 4 43 58
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+f 23 40 41
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+f 27 49 44
+f 28 50 45
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+f 30 49 31
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+f 32 48 34
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+f 34 48 47
+f 34 47 51
+f 35 36 39
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+f 36 54 39
+f 39 54 40
+f 40 54 55
+f 40 55 56
+f 40 56 41
+f 41 56 46
+f 41 46 57
+f 41 57 42
+f 42 57 58
+f 42 58 43
+f 45 50 57
+f 45 57 46
+f 46 56 47
+f 47 56 51
+f 50 58 57
+f 51 56 55
+f 51 55 52
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+f 53 60 54
+f 54 60 55
+f 55 60 59
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_15.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a78e38d00fb7496766d6ef3f1cf08fac03d2ac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_15.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00014806 -0.08231317 -0.03355817
+v -0.00014806 -0.07304716 -0.03355814
+v 0.00139614 -0.08232301 -0.03355817
+v 0.00139614 -0.08192352 -0.00819479
+v -0.00014806 -0.08187825 -0.00819479
+v -0.00014806 -0.07396055 -0.01101417
+v 0.03578704 -0.07226868 -0.03355814
+v 0.01850892 -0.08231022 -0.03355817
+v 0.00139614 -0.08178772 -0.00463939
+v -0.00014806 -0.08175819 -0.00463939
+v 0.02421436 -0.08150723 -0.00463939
+v -0.00014806 -0.07404225 -0.00949124
+v 0.00995429 -0.07400781 -0.00463936
+v 0.03578704 -0.07367812 -0.00463936
+v 0.03578704 -0.07288280 -0.03355814
+v 0.01777024 -0.07390153 -0.00463936
+v 0.03278306 -0.08207303 -0.03355817
+v -0.00014806 -0.07439263 -0.00463936
+v 0.03562523 -0.08123068 -0.00463939
+v -0.00014806 -0.07411607 -0.00819476
+v 0.03578704 -0.08120017 -0.00463939
+v 0.03574131 -0.08193918 -0.03355817
+v 0.03578704 -0.08192934 -0.03355251
+v 0.03562523 -0.08196083 -0.03355817
+f 1 2 7
+f 1 7 15
+f 1 15 22
+f 1 22 24
+f 1 24 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 9
+f 6 12 13
+f 6 13 7
+f 7 14 21
+f 7 21 23
+f 7 23 15
+f 7 13 16
+f 7 16 14
+f 8 17 11
+f 9 11 19
+f 9 19 21
+f 9 21 14
+f 9 14 16
+f 9 16 13
+f 9 13 18
+f 9 18 10
+f 11 17 19
+f 12 20 13
+f 13 20 18
+f 15 23 22
+f 17 24 19
+f 19 24 22
+f 19 22 21
+f 21 22 23
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_16.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7d1ca9fcb3d6ca05c4f8b608d791b337ac3b6bd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_16.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v 0.04029805 0.05154970 -0.04346466
+v 0.04989011 0.06175207 -0.04834215
+v 0.04989011 0.05888168 -0.04772554
+v 0.04703784 0.05154970 -0.04387170
+v 0.04029805 0.05154968 -0.03679097
+v 0.04029805 0.07427707 -0.04827975
+v 0.04989011 0.06462592 -0.04843394
+v 0.05274238 0.06175207 -0.04841663
+v 0.04029805 0.07610746 -0.04842697
+v 0.05274238 0.05888168 -0.04778270
+v 0.04989011 0.05154970 -0.04398428
+v 0.04683118 0.05154965 -0.03074948
+v 0.04683313 0.05155312 -0.03074601
+v 0.04029805 0.07270314 -0.03074593
+v 0.05274238 0.06462592 -0.04842875
+v 0.04029805 0.07715092 -0.04843563
+v 0.04133329 0.07610746 -0.04843736
+v 0.04989011 0.06749631 -0.04843739
+v 0.05559465 0.06462592 -0.04835946
+v 0.05559465 0.06175207 -0.04819666
+v 0.05545428 0.05880194 -0.04705349
+v 0.05454772 0.05154970 -0.04355126
+v 0.05366454 0.05154970 -0.04373833
+v 0.05146344 0.05154970 -0.04392539
+v 0.04686042 0.05154965 -0.03074601
+v 0.04029805 0.08019456 -0.03074591
+v 0.04989011 0.07036322 -0.04843392
+v 0.04989011 0.07323708 -0.04842872
+v 0.05274238 0.06749631 -0.04842180
+v 0.04029805 0.07898131 -0.04843042
+v 0.04133329 0.07898131 -0.04843042
+v 0.04418556 0.07610746 -0.04843390
+v 0.04703784 0.07323708 -0.04843564
+v 0.05844693 0.06462591 -0.04741894
+v 0.05274238 0.07036322 -0.04841487
+v 0.05559465 0.06749631 -0.04834040
+v 0.05780551 0.05971021 -0.04674518
+v 0.05863409 0.06177286 -0.04702057
+v 0.05597288 0.05154970 -0.04287056
+v 0.05439955 0.05154965 -0.03074601
+v 0.04099016 0.07991377 -0.03074591
+v 0.04227105 0.08600124 -0.04112449
+v 0.04036823 0.08628204 -0.04046630
+v 0.04029805 0.08628898 -0.04045937
+v 0.04703784 0.07610746 -0.04842524
+v 0.04989011 0.07610746 -0.04839579
+v 0.04029805 0.08002130 -0.04842523
+v 0.04133329 0.08185169 -0.04840616
+v 0.04418556 0.07898131 -0.04842003
+v 0.05997152 0.06462591 -0.04639529
+v 0.05995788 0.06274698 -0.04637278
+v 0.05559465 0.07036322 -0.04815505
+v 0.05860095 0.06731950 -0.04710369
+v 0.05991888 0.06624137 -0.04632254
+v 0.05274238 0.07323708 -0.04836982
+v 0.05970833 0.06082993 -0.04585836
+v 0.05683461 0.05154969 -0.04209285
+v 0.05431767 0.05316511 -0.03074600
+v 0.05726937 0.05154968 -0.03737987
+v 0.05981555 0.06175204 -0.04085091
+v 0.05975511 0.06462589 -0.04098601
+v 0.04108179 0.07987217 -0.03074591
+v 0.04628334 0.08364739 -0.04026193
+v 0.04818420 0.08310659 -0.04108986
+v 0.04405299 0.08552978 -0.04204770
+v 0.04301190 0.08626125 -0.04300380
+v 0.04132549 0.08652123 -0.04204769
+v 0.04029805 0.08672924 -0.04203903
+v 0.04703784 0.07898131 -0.04839059
+v 0.04989011 0.07898131 -0.04805630
+v 0.04029805 0.08185169 -0.04840963
+v 0.04029805 0.08289169 -0.04823469
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+v 0.06021522 0.06462590 -0.04484334
+v 0.06012749 0.06177285 -0.04488839
+v 0.05786595 0.07036321 -0.04708290
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+v 0.05582471 0.07343120 -0.04735309
+v 0.05741754 0.07259920 -0.04671049
+v 0.05882905 0.07036320 -0.04484332
+v 0.05960889 0.06797121 -0.04484333
+v 0.05999492 0.06653602 -0.04484334
+v 0.06000467 0.06005686 -0.04397906
+v 0.05747603 0.05154969 -0.04146238
+v 0.05383416 0.06174853 -0.03074597
+v 0.05751307 0.05154968 -0.03819914
+v 0.06000467 0.06005686 -0.04277353
+v 0.06012749 0.06175205 -0.04226082
+v 0.06011774 0.06462590 -0.04239592
+v 0.05355147 0.06461892 -0.03074596
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_17.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d207becd1ce416fd369150b65cfb3c6c1b5b7a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_17.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00015042 -0.06412809 -0.03681774
+v -0.00015042 -0.06412807 -0.04348333
+v -0.00097572 -0.06412809 -0.03681633
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+v -0.00015042 -0.07403537 -0.02984300
+v -0.00015042 -0.06474627 -0.04352549
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+v -0.01405988 -0.06412807 -0.04348473
+v -0.02379556 -0.06412809 -0.03680931
+v -0.02428033 -0.06412809 -0.03680931
+v -0.02232705 -0.07396849 -0.02984300
+v -0.00015042 -0.08186510 -0.02984303
+v -0.00015042 -0.07610271 -0.04359720
+v -0.02430635 -0.07610069 -0.04420010
+v -0.01572230 -0.06472397 -0.04352549
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_18.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b6c8f8e35ac41954137fb22d64c4447f0e71d7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_18.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00014806 -0.08473944 -0.03920596
+v 0.02422366 -0.08477665 -0.03920596
+v -0.00014806 -0.08438599 -0.03804154
+v -0.00014806 -0.08436738 -0.04061220
+v 0.02422366 -0.08409144 -0.04185758
+v 0.00139545 -0.08397055 -0.03667058
+v -0.00014806 -0.08397055 -0.03667370
+v 0.02422366 -0.08396744 -0.03668719
+v 0.02136089 -0.08396744 -0.03667681
+v 0.01851005 -0.08396744 -0.03667162
+v 0.01565682 -0.08397055 -0.03667681
+v -0.00014806 -0.08405113 -0.04180672
+v 0.02422366 -0.08408834 -0.04186588
+v 0.00140499 -0.08232113 -0.03355817
+v 0.00139545 -0.08232113 -0.03355817
+v -0.00014806 -0.08231182 -0.03355817
+v 0.02422366 -0.08210409 -0.03355817
+v 0.02137044 -0.08224051 -0.03355817
+v 0.01851959 -0.08230872 -0.03355817
+v -0.00014806 -0.08237069 -0.04321606
+v 0.02422366 -0.08261563 -0.04327522
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+v 0.02422366 -0.05310574 -0.04336749
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_19.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd52b4541191a8205f3e2f4c417192b6ed36602
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_19.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.00839577 0.06838011 0.04477931
+v -0.00839577 0.06875345 0.04464957
+v -0.01001800 0.06838011 0.04478206
+v -0.00839577 0.06838014 0.03544933
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+v -0.01572452 0.06838011 0.04477654
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+v -0.00839577 0.07052436 0.04393189
+v -0.01001800 0.07114474 0.04364205
+v -0.02142625 0.07114474 0.04364205
+v -0.02427831 0.07114197 0.04364205
+v -0.02427831 0.06970691 0.04431006
+v -0.02427831 0.06838011 0.04476826
+v -0.01857658 0.06838011 0.04477378
+v -0.03283928 0.06838014 0.03520366
+v -0.03283928 0.08239074 0.01658241
+v -0.00839577 0.08255867 0.01658241
+v -0.00839577 0.07114474 0.04363929
+v -0.00839577 0.07233415 0.04288573
+v -0.00839577 0.07323904 0.04231157
+v -0.02427831 0.07323904 0.04232537
+v -0.02713277 0.07323904 0.04232261
+v -0.02713277 0.07113225 0.04363653
+v -0.02713277 0.06969720 0.04430453
+v -0.02713277 0.06838011 0.04475446
+v -0.03283928 0.06838011 0.04457504
+v -0.03283928 0.08242683 0.01658517
+v -0.03283689 0.08242683 0.01658241
+v -0.02427831 0.08255035 0.01658241
+v -0.02713277 0.08247817 0.01718416
+v -0.02427831 0.08247957 0.01718416
+v -0.02427831 0.08147333 0.02564187
+v -0.01857658 0.08147472 0.02564187
+v -0.00839577 0.08147472 0.02564187
+v -0.00839577 0.07410785 0.04169602
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_2.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47420fb5a3f929af3cc9533f4ba963f83ea2ad9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_2.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+v 0.00000423 -0.00001198 -0.04310414
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+v 0.01851217 0.00263550 -0.04351063
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_20.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b19cf10737902aa2c72148b7fcda1a51da8481c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_20.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.03285159 0.07433262 -0.00463882
+v -0.03285159 0.07268954 0.00308440
+v -0.03285159 0.08117797 -0.00463879
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_21.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e630fe88cfb24543e2b2ba88c7cd1683f22276a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_21.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.03562373 0.08732373 -0.04484308
+v 0.03562373 0.08722386 -0.04202510
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_22.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d42080f9c9869be6b39f7311cfe85d589f794315
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_22.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_23.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa5139cbb5cbc2a4909341c4ba516b482b83397
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_23.obj
@@ -0,0 +1,229 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_24.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc4f057b4b37dfba4631b86cd2f85475cfd1c72e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_24.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_25.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db148a928c2d19805a3fdd6a488ce8d9a300829c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_25.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.03937791 0.06837922 0.03259468
+v -0.05032282 0.06837922 0.03259468
+v -0.04404963 0.05887022 0.03259465
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_26.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7620d785af6a6979df125c066b40091ba6d0b7c3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_26.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05780543 0.05230020 -0.03920482
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+v -0.05732707 0.03302682 -0.03739582
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+v -0.05732547 -0.00001911 -0.03740319
+v -0.05732707 0.02154372 -0.03739707
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_27.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f79d97025b02daeaa82c23746ffc764dd1d69681
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_27.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.05592654 0.00002771 0.01438132
+v 0.05895918 0.00002773 0.00872323
+v 0.04756924 0.00002771 0.01438132
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+v 0.05815750 -0.05025332 0.00308544
+v 0.05815903 -0.00717893 0.00308559
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+v 0.05455682 -0.01021832 -0.00463913
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+v 0.04374561 -0.06506811 0.00525069
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_28.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dcb14340a7aa63a6893243e349db1ab3b4f908f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_28.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.04404882 0.05887022 0.03259465
+v -0.04553488 0.05887033 0.00376929
+v -0.05339467 0.05887022 0.03259465
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+v -0.04558875 0.00002775 0.00405699
+v -0.04683088 0.05025939 -0.00463891
+v -0.04685931 0.05238478 -0.00463890
+v -0.04687577 0.05313356 -0.00463889
+v -0.04581922 0.05887033 0.00236246
+v -0.05383914 0.05887023 0.03103840
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+v -0.05370595 0.00002764 0.03259443
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+v -0.04690121 0.01005567 -0.00463905
+v -0.04741003 0.05887036 -0.00463887
+v -0.05893634 0.05887031 0.00872598
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_29.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ff3306b2e17c3ff8688867314b1c2c75d4327c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_29.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v -0.05371901 0.04568519 0.03259460
+v -0.05329536 0.05026164 0.03409896
+v -0.05371901 0.05026165 0.03259461
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_3.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2626b2ed22cb8116ff31d7d491af75a1d6d6c6b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_30.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc56a8691d1ed3f90f0f52fff75f890e9e1e1181
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_30.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_31.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb3aa651f19d366cc7a2ad4b8a442eaf1b53005
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_31.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05388900 0.06017247 0.02955077
+v 0.04552338 0.06017247 0.02955077
+v 0.05404804 0.05939535 0.02955077
+v 0.05882622 0.06017255 0.00872441
+v 0.04517072 0.06017256 0.00590651
+v 0.04576264 0.00002765 0.02955055
+v 0.05421123 0.05788819 0.02955076
+v 0.05889952 0.05887734 0.00872441
+v 0.05899909 0.06017255 0.00745602
+v 0.04521913 0.06017256 0.00472178
+v 0.04552753 0.00002775 0.00407566
+v 0.04549987 0.00002774 0.00590629
+v 0.05432187 0.00002765 0.02955055
+v 0.05429144 0.05600425 0.02955076
+v 0.05925356 0.05887735 0.00590651
+v 0.05919409 0.06017256 0.00590651
+v 0.05894377 0.05600433 0.00872440
+v 0.04534913 0.06017257 0.00337977
+v 0.04681508 0.01005977 -0.00463570
+v 0.04686625 0.00793445 -0.00463571
+v 0.04708338 0.00002778 -0.00463574
+v 0.05432325 0.00144061 0.02955056
+v 0.05896037 0.00002773 0.00872419
+v 0.05431495 0.05423806 0.02955075
+v 0.05811399 0.05887736 0.00308526
+v 0.05928537 0.05600434 0.00590650
+v 0.05814856 0.05600435 0.00308525
+v 0.05797707 0.06017257 0.00296813
+v 0.05432879 0.05313124 0.02955075
+v 0.05895069 0.05313132 0.00872439
+v 0.04550125 0.06017257 0.00263681
+v 0.04680817 0.05313137 -0.00463554
+v 0.04674870 0.05025836 -0.00463556
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+v 0.05929782 0.00002774 0.00590629
+v 0.05896175 0.01293273 0.00872424
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+v 0.05815409 0.05025833 0.00308522
+v 0.05815824 0.02154589 0.00308512
+v 0.05452793 0.01018340 -0.00463570
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_32.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b42ae50261e80ff15d115a47deb20420d64381e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_32.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.04666534 -0.02728136 -0.02120644
+v 0.04695505 -0.02043538 -0.02120642
+v 0.04676580 -0.02153673 -0.02510930
+v 0.04675334 -0.02153673 -0.02572192
+v 0.04672609 -0.02440904 -0.02510931
+v 0.04670583 -0.02728135 -0.02510932
+v 0.04668559 -0.03302284 -0.02510934
+v 0.04705552 -0.03876746 -0.02120648
+v 0.04796982 -0.01341418 -0.02120639
+v 0.04744024 -0.01858307 -0.02572191
+v 0.04670350 -0.03302284 -0.02572196
+v 0.04671362 -0.03364548 -0.02572196
+v 0.04680241 -0.03589514 -0.02572197
+v 0.04679929 -0.03589514 -0.02510935
+v 0.04716065 -0.04163977 -0.02120649
+v 0.04956947 -0.01224085 -0.02120638
+v 0.04800020 -0.01347989 -0.02133767
+v 0.04795502 -0.01736281 -0.02572190
+v 0.04685069 -0.03651779 -0.02572197
+v 0.04718713 -0.04163977 -0.02229028
+v 0.04799085 -0.04349206 -0.02229029
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+v 0.04989033 -0.01610813 -0.02572190
+v 0.04925328 -0.01646795 -0.02572190
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+v 0.04723619 -0.03937132 -0.02572198
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+v 0.04989033 -0.04403648 -0.02229029
+v 0.04798462 -0.04349519 -0.02120650
+v 0.04826732 -0.04324174 -0.02395664
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_33.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a486fe06f8e661493b2c51d05dfd5df15ce217da
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_33.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02421392 0.08111806 0.02845964
+v 0.02421392 0.08067611 0.03108663
+v 0.02706570 0.08111614 0.02845964
+v 0.02421392 0.08111806 0.02845304
+v 0.01850667 0.08111806 0.02845964
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+v 0.02706570 0.08037251 0.03248361
+v 0.02706570 0.08067227 0.03107437
+v 0.00709959 0.08111614 0.02845964
+v -0.00839577 0.08111229 0.02845964
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+v -0.00839577 0.08036867 0.03246663
+v 0.02953871 0.08103927 0.02881053
+v 0.02953871 0.08109884 0.02845304
+v 0.02706570 0.08111614 0.02845304
+v 0.01280313 0.08111806 0.02845304
+v 0.02421392 0.07978069 0.03409753
+v 0.02706570 0.07977685 0.03409753
+v -0.00839577 0.08011312 0.03317124
+v -0.00839577 0.07977685 0.03409753
+v 0.02953871 0.07975187 0.03409753
+v 0.02953871 0.08035714 0.03242230
+v 0.02953871 0.08062231 0.03120171
+v 0.02953871 0.08066266 0.03101306
+v 0.00424782 0.08111614 0.02845304
+v -0.00839577 0.08111229 0.02845304
+v 0.02953871 0.07317280 0.02845301
+v 0.02706570 0.07838762 0.03690374
+v 0.02953871 0.07837609 0.03688111
+v -0.00839577 0.07838954 0.03688582
+v -0.00839577 0.07317472 0.02845301
+v 0.02953871 0.06149218 0.03808937
+v -0.00431121 0.07317088 0.02845301
+v 0.02706570 0.07767091 0.03808943
+v 0.02751128 0.07766707 0.03808943
+v 0.02953871 0.07826272 0.03706976
+v -0.00839577 0.07764977 0.03808943
+v -0.00839577 0.06202826 0.03808937
+v -0.00716669 0.07317280 0.02845301
+v 0.02953871 0.07764209 0.03808943
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+f 33 40 34
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_34.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aefc14283297a92b79865f9b20a1df99c4645d25
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_34.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.04407121 -0.07639530 -0.02984155
+v -0.04354238 -0.07822565 -0.02984156
+v -0.04337470 -0.07832868 -0.01493131
+v -0.04342629 -0.07693996 -0.01493130
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+v -0.02998192 -0.08158602 -0.01665224
+v -0.03283676 -0.08146857 -0.02229084
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+f 40 43 41
+f 41 43 42
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_35.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee6b2ea6d58b12a43ef672b8e2470b48310d30c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_35.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03274610 -0.06629786 0.03639004
+v 0.03274610 -0.07845768 0.03638999
+v 0.03274610 -0.07335989 0.02665499
+v -0.00839458 -0.07347621 0.02665499
+v -0.00839458 -0.06676022 0.03639003
+v 0.03239974 -0.07847976 0.03638999
+v 0.03274610 -0.07846798 0.03637093
+v 0.03274610 -0.08122592 0.02665496
+v -0.00839458 -0.08132900 0.02665496
+v -0.00839458 -0.07865352 0.03638999
+v 0.02979396 -0.07861229 0.03638999
+v 0.02991881 -0.07977408 0.03409726
+v 0.03274610 -0.07960032 0.03409726
+v 0.03274610 -0.08099916 0.02845979
+v 0.02991881 -0.08111254 0.02845979
+v 0.02991881 -0.08133047 0.02665496
+v -0.00839458 -0.08125684 0.02724387
+v -0.00716217 -0.08133047 0.02665496
+v -0.00839458 -0.07899660 0.03569817
+v -0.00739174 -0.07865499 0.03638999
+v 0.02706736 -0.07866677 0.03638999
+v 0.02706736 -0.07980353 0.03409726
+v 0.02991881 -0.08037043 0.03250207
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+v 0.03274610 -0.08061191 0.03073726
+v 0.02991881 -0.08067080 0.03109365
+v 0.02706736 -0.08067522 0.03114035
+v 0.02706736 -0.08112285 0.02845979
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+v -0.00839458 -0.08110665 0.02845979
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+v -0.00839458 -0.07979028 0.03409726
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+v 0.02653170 -0.07866677 0.03638999
+v 0.02706736 -0.08038074 0.03254876
+v 0.00371604 -0.07866235 0.03638999
+v 0.00424767 -0.07979617 0.03409726
+v 0.03274610 -0.08060749 0.03075918
+v 0.03274610 -0.08029239 0.03215617
+v 0.03274610 -0.08028944 0.03216761
+v -0.00839458 -0.08066786 0.03109080
+v 0.02706736 -0.08133930 0.02665496
+v -0.00839458 -0.08037043 0.03249921
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+f 32 37 36
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+f 32 35 37
+f 35 43 41
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_36.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c24139fb7227351e9bde17d8d933fb858e806085
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_36.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.05766493 -0.04881233 -0.03920562
+v -0.05754427 -0.04881232 -0.04026571
+v -0.05750858 -0.04881233 -0.03829677
+v -0.05732674 -0.00002423 -0.03740162
+v -0.05760715 -0.00002423 -0.03920544
+v -0.05742530 -0.04881232 -0.04128002
+v -0.05732504 -0.04881233 -0.03739486
+v -0.05732674 -0.00717816 -0.03740165
+v -0.05445464 -0.01868275 -0.02948984
+v -0.05445124 -0.00002426 -0.02948977
+v -0.05736583 -0.00002422 -0.04117716
+v -0.05586520 -0.04881231 -0.04268977
+v -0.05584650 -0.00002421 -0.04258691
+v -0.05436287 -0.04881236 -0.02948995
+v -0.05442235 -0.04023051 -0.02948992
+v -0.05443595 -0.03754181 -0.02948991
+v -0.04696680 -0.00002426 -0.02948977
+v -0.05442745 -0.03302399 -0.04350005
+v -0.05443935 -0.04881231 -0.04349594
+v -0.05441895 -0.00002421 -0.04349715
+v -0.04719793 -0.04881236 -0.02948995
+v -0.04030320 -0.00430800 -0.03666207
+v -0.04030320 -0.00129455 -0.03716573
+v -0.04030320 -0.00002423 -0.03766386
+v -0.04678666 -0.01994830 -0.02948984
+v -0.05361171 -0.04881231 -0.04354729
+v -0.05359811 -0.00002421 -0.04353739
+v -0.04030320 -0.04881234 -0.03674132
+v -0.04691922 -0.03589421 -0.02948990
+v -0.04030320 -0.00607977 -0.03665374
+v -0.04030320 -0.00002421 -0.04310309
+v -0.04030320 -0.00717817 -0.03665098
+v -0.04688863 -0.03302404 -0.02948989
+v -0.05280616 -0.04881231 -0.04358336
+v -0.05280616 -0.00002421 -0.04357486
+v -0.04690222 -0.03430392 -0.02948990
+v -0.04030320 -0.04881231 -0.04350843
+v -0.04030320 -0.00263172 -0.04350826
+v -0.04443290 -0.00002421 -0.04352074
+v -0.05138881 -0.04881231 -0.04363609
+v -0.04995446 -0.00002421 -0.04359151
+v -0.04995446 -0.04881231 -0.04365551
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+v -0.04030320 -0.03557897 -0.04352226
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+v -0.04850142 -0.00002421 -0.04359012
+v -0.04853711 -0.04881231 -0.04366106
+v -0.04030320 -0.00430797 -0.04355406
+v -0.04030320 -0.00717814 -0.04355130
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+f 1 49 43
+f 1 43 37
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+f 45 50 46
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_37.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25d6ac323874a26ec1d14f75e03ed2d04c2b9dd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_37.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00839577 0.07411682 -0.00463558
+v -0.00839577 0.07292484 0.00308671
+v -0.00839577 0.08129438 -0.00463555
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+v -0.00839577 0.07268535 0.00590483
+v 0.01925303 0.07392088 -0.00463558
+v 0.02953871 0.07288130 0.00308671
+v -0.00839577 0.08629075 0.00423344
+v -0.00145572 0.08166993 -0.00463555
+v -0.00716669 0.07317375 0.02845301
+v -0.00839577 0.07317647 0.02845301
+v -0.00716298 0.07268399 0.00590483
+v 0.02421392 0.07396850 -0.00463558
+v 0.02715852 0.07422295 -0.00463558
+v 0.02953871 0.07468830 -0.00463558
+v 0.02953871 0.07265406 0.00590483
+v -0.00839577 0.08655063 0.00590488
+v 0.02953871 0.08629483 0.00423020
+v 0.00709959 0.08629210 0.00423020
+v 0.00139605 0.08170667 -0.00463555
+v 0.00065340 0.08169851 -0.00463555
+v -0.00431121 0.07317239 0.02845301
+v -0.00839577 0.08111329 0.02845304
+v 0.02953871 0.08073651 -0.00463555
+v 0.02953871 0.07317375 0.02845301
+v -0.00839577 0.08649483 0.00693171
+v 0.02421392 0.08655336 0.00590488
+v 0.02706570 0.08655336 0.00590488
+v 0.02953871 0.08655199 0.00590488
+v 0.02673893 0.08116104 -0.00463555
+v 0.02421392 0.08145222 -0.00463555
+v 0.02347128 0.08146719 -0.00463555
+v -0.00839577 0.08642135 0.00827922
+v 0.00709959 0.08111737 0.02845304
+v 0.02953871 0.08109833 0.02845304
+v 0.00709959 0.08642135 0.00827922
+v 0.02706570 0.08642135 0.00827598
+v 0.02953871 0.08653430 0.00622232
+v 0.01565490 0.08111873 0.02845304
+v 0.02953871 0.08641863 0.00826950
+v 0.02706570 0.08111601 0.02845304
+v 0.02421392 0.08111873 0.02845304
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+f 1 23 33
+f 1 33 26
+f 1 26 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 20
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+f 18 24 30
+f 18 30 31
+f 18 31 32
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+f 18 20 19
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+f 29 37 38
+f 33 34 39
+f 33 39 42
+f 33 42 36
+f 35 40 41
+f 36 42 37
+f 37 42 41
+f 37 41 40
+f 37 40 38
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_38.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751a6a6c2a9e52072d446c7778c95c9472b3deb2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_38.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.05415885 -0.06412818 -0.01559802
+v -0.05388780 -0.06493974 -0.01559802
+v -0.05390759 -0.06484213 -0.01383129
+v -0.05415732 -0.06412818 -0.01540279
+v -0.04690151 -0.06412818 -0.01559802
+v -0.05241532 -0.06727002 -0.01559803
+v -0.05090324 -0.07094416 -0.01101226
+v -0.05176054 -0.06950779 -0.01101226
+v -0.05280514 -0.06748821 -0.01101225
+v -0.05263154 -0.06748823 -0.00463934
+v -0.05377816 -0.06452211 -0.00463933
+v -0.05394262 -0.06412821 -0.00819318
+v -0.04693805 -0.06435314 -0.01559802
+v -0.04654671 -0.06412819 -0.01428182
+v -0.04276729 -0.06882185 -0.01251081
+v -0.04090042 -0.07279989 -0.01164516
+v -0.04241402 -0.07279988 -0.01275862
+v -0.05120779 -0.06772080 -0.01559803
+v -0.04914601 -0.07243230 -0.01305898
+v -0.04947645 -0.07277782 -0.01101227
+v -0.04956933 -0.07279991 -0.00463936
+v -0.05085299 -0.07092126 -0.00463935
+v -0.05176206 -0.06953581 -0.00819320
+v -0.05168288 -0.06958845 -0.00463935
+v -0.05379796 -0.06412822 -0.00463933
+v -0.04698983 -0.06467063 -0.01559802
+v -0.04617212 -0.06412820 -0.01101224
+v -0.03860414 -0.07279991 -0.00463936
+v -0.03983146 -0.07279990 -0.00932813
+v -0.04446970 -0.07279988 -0.01309866
+v -0.04710098 -0.07035924 -0.01439019
+v -0.04858108 -0.06753828 -0.01559803
+v -0.04763546 -0.06702383 -0.01559803
+v -0.04722280 -0.06603569 -0.01559802
+v -0.04995458 -0.06798142 -0.01559803
+v -0.04710098 -0.07267169 -0.01329390
+v -0.04690912 -0.07279988 -0.01309116
+v -0.04853540 -0.07279988 -0.01244754
+v -0.04941706 -0.07279989 -0.01101227
+v -0.04943381 -0.07279989 -0.01096078
+v -0.04624369 -0.06412822 -0.00463933
+v -0.04617973 -0.06412821 -0.00819318
+v -0.04635637 -0.07279988 -0.01319521
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 25
+f 1 25 41
+f 1 41 42
+f 1 42 27
+f 1 27 14
+f 1 14 5
+f 1 5 13
+f 1 13 26
+f 1 26 34
+f 1 34 33
+f 1 33 32
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+f 1 18 6
+f 1 6 2
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+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 26
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+f 19 38 20
+f 20 39 40
+f 20 40 21
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+f 22 24 23
+f 27 42 28
+f 28 42 41
+f 30 43 31
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+f 31 35 32
+f 31 43 36
+f 36 43 37
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_39.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c637352387941e3f69416a4042368649086375c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_39.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.03611383 -0.06506822 0.03639003
+v 0.04346121 -0.06506820 0.03034121
+v 0.05014934 -0.06506822 0.03639003
+v 0.04032980 0.00002763 0.03639027
+v 0.04546907 0.00002765 0.03034145
+v 0.05251695 -0.06506820 0.03034121
+v 0.05084226 -0.06506822 0.03521284
+v 0.05038682 -0.06455210 0.03639003
+v 0.05224936 0.00002763 0.03639027
+v 0.05421114 0.00002765 0.03034145
+v 0.05269063 -0.06461579 0.03034121
+v 0.05248683 -0.06461579 0.03127859
+v 0.05231138 -0.06506820 0.03127859
+v 0.05103898 -0.06506822 0.03487117
+v 0.05137214 -0.06333505 0.03561137
+v 0.05058175 -0.06411243 0.03639003
+v 0.05326126 0.00002763 0.03409747
+v 0.05225113 -0.00094728 0.03639027
+v 0.05421469 -0.01579390 0.03034139
+v 0.05395950 0.00002764 0.03162760
+v 0.05396127 -0.01005279 0.03163112
+v 0.05348810 -0.06170381 0.03034122
+v 0.05329848 -0.06174204 0.03127860
+v 0.05166809 -0.06441827 0.03395096
+v 0.05157594 -0.06506821 0.03358383
+v 0.05218733 -0.06506821 0.03173217
+v 0.05240885 -0.06174206 0.03409724
+v 0.05115062 -0.06506822 0.03460825
+v 0.05158480 -0.06174206 0.03599271
+v 0.05134556 -0.06174206 0.03639004
+v 0.05326304 -0.00143792 0.03409746
+v 0.05361747 0.00002764 0.03284210
+v 0.05225290 -0.00382103 0.03639026
+v 0.05326481 -0.00430530 0.03409745
+v 0.05421646 -0.03589104 0.03034132
+v 0.05396127 -0.01292654 0.03163406
+v 0.05396127 -0.01579391 0.03163583
+v 0.05396127 -0.01866766 0.03163760
+v 0.05367772 -0.06070341 0.03034123
+v 0.05394709 -0.05908494 0.03034123
+v 0.05384254 -0.05872174 0.03107017
+v 0.05294759 -0.05886831 0.03409725
+v 0.05180100 -0.05954374 0.03639005
+v 0.05225467 -0.01243590 0.03639022
+v 0.05326658 -0.01292655 0.03409742
+v 0.05395772 -0.05025343 0.03163038
+v 0.05421292 -0.05312716 0.03034125
+v 0.05326658 -0.01866767 0.03409740
+v 0.05408000 -0.05800808 0.03034124
+v 0.05393292 -0.05599455 0.03154627
+v 0.05319392 -0.05599456 0.03409726
+v 0.05192151 -0.05886831 0.03639005
+v 0.05225467 -0.01866767 0.03639020
+v 0.05325772 -0.05025344 0.03409729
+v 0.05395595 -0.05312717 0.03162977
+v 0.05417924 -0.05599454 0.03034124
+v 0.05325418 -0.05312718 0.03409727
+v 0.05216607 -0.05599456 0.03639006
+v 0.05223341 -0.05312718 0.03639007
+v 0.05224227 -0.05025344 0.03639009
+f 1 2 6
+f 1 6 13
+f 1 13 26
+f 1 26 25
+f 1 25 28
+f 1 28 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 30
+f 1 30 43
+f 1 43 52
+f 1 52 58
+f 1 58 59
+f 1 59 60
+f 1 60 53
+f 1 53 44
+f 1 44 33
+f 1 33 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 19
+f 2 19 35
+f 2 35 47
+f 2 47 56
+f 2 56 49
+f 2 49 40
+f 2 40 39
+f 2 39 22
+f 2 22 11
+f 2 11 6
+f 3 7 8
+f 4 9 17
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+f 4 32 20
+f 4 20 10
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+f 7 14 15
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+f 7 16 8
+f 9 18 17
+f 10 20 21
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+f 11 22 23
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+f 12 27 24
+f 14 28 15
+f 15 27 29
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+f 15 28 24
+f 15 24 27
+f 17 18 31
+f 17 31 32
+f 18 33 34
+f 18 34 31
+f 19 21 36
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+f 19 37 38
+f 19 38 35
+f 20 32 36
+f 20 36 21
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 27
+f 24 28 25
+f 27 42 29
+f 29 42 43
+f 29 43 30
+f 31 34 32
+f 32 34 36
+f 33 44 34
+f 34 44 45
+f 34 45 36
+f 35 46 47
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+f 37 45 38
+f 38 45 48
+f 38 48 46
+f 40 49 41
+f 41 49 50
+f 41 50 51
+f 41 51 42
+f 42 51 52
+f 42 52 43
+f 44 53 48
+f 44 48 45
+f 46 54 55
+f 46 55 47
+f 46 48 54
+f 47 55 56
+f 48 53 54
+f 49 56 50
+f 50 56 55
+f 50 55 57
+f 50 57 51
+f 51 58 52
+f 51 57 59
+f 51 59 58
+f 53 60 54
+f 54 60 57
+f 54 57 55
+f 57 60 59
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_4.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506805e690bea4bc4bead19c07268a73ccc1fabe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_4.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04140790 -0.00002185 -0.04310651
+v -0.04140790 -0.00002187 -0.03701321
+v -0.04140790 0.00266776 -0.04349263
+v -0.04029730 -0.06411668 -0.04360280
+v -0.04029730 -0.06411671 -0.03631111
+v -0.04140790 0.00429745 -0.03662776
+v -0.04140790 0.00267916 -0.04349335
+v -0.00146294 -0.00716756 -0.04356619
+v -0.00015373 -0.00716756 -0.04356619
+v -0.00015373 -0.05024694 -0.04353422
+v -0.00015373 -0.05841835 -0.04352426
+v -0.00015373 -0.06411668 -0.04348218
+v -0.04140790 0.00430888 -0.04352974
+v -0.04140790 0.00718084 -0.04353687
+v -0.04140790 0.00719224 -0.04353687
+v -0.04140790 0.05027162 -0.04350960
+v -0.03854224 0.05026022 -0.04351602
+v -0.03568874 0.05026022 -0.04351888
+v -0.03283523 0.05026022 -0.04352101
+v -0.02998579 0.05026022 -0.04352244
+v -0.02142123 0.05026022 -0.04352458
+v -0.00145889 0.05026022 -0.04352815
+v -0.00015373 -0.06411670 -0.03681645
+v -0.00015373 -0.05024696 -0.03676429
+v -0.00015373 -0.00716759 -0.03672345
+v -0.00015373 -0.00431842 -0.03672202
+v 0.00000029 0.00718081 -0.03673053
+v 0.00000029 0.05026020 -0.03678034
+v -0.04140790 0.05026019 -0.03666115
+v -0.04140790 0.00718081 -0.03661704
+v 0.00000029 0.05026022 -0.04352815
+v 0.00000029 0.00718084 -0.04355471
+v 0.00000029 0.00430888 -0.04355472
+v 0.00000029 0.00263357 -0.04350905
+v 0.00000029 -0.00002185 -0.04310365
+v -0.04140790 0.05173039 -0.04343678
+v -0.03854224 0.05175318 -0.04343821
+v -0.01573044 0.05182157 -0.04344249
+v 0.00000029 0.05185576 -0.04344464
+v 0.00000029 -0.00002187 -0.03783474
+v 0.00000029 0.00151668 -0.03724659
+v 0.00000029 0.00294126 -0.03698393
+v 0.00000029 0.00430885 -0.03673340
+v 0.00000029 0.00577902 -0.03673126
+v 0.00000029 0.05228880 -0.03692166
+v -0.04140790 0.05228880 -0.03677034
+v -0.04140790 0.05228882 -0.04340395
+v -0.03963662 0.05228882 -0.04340538
+v -0.03854224 0.05228882 -0.04340609
+v -0.03675069 0.05228882 -0.04340680
+v 0.00000029 0.05228882 -0.04341680
+f 1 2 6
+f 1 6 30
+f 1 30 29
+f 1 29 46
+f 1 46 47
+f 1 47 36
+f 1 36 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
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+f 1 3 4
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+f 16 36 17
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+f 45 48 47
+f 45 47 46
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_40.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d0c1499363110a43d3e9016b6513034dd8cff4b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_40.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00839458 -0.08128177 -0.00463633
+v -0.00839458 -0.08627067 0.00426245
+v -0.00839458 -0.07413598 -0.00463630
+v -0.00145524 -0.08173818 -0.00463633
+v -0.00839458 -0.08641639 0.00519675
+v 0.00139622 -0.08178767 -0.00463633
+v -0.00431072 -0.08627205 0.00425939
+v -0.00839458 -0.07292900 0.00308620
+v 0.01776388 -0.07390228 -0.00463630
+v -0.00839458 -0.08652636 0.00590436
+v -0.00431072 -0.08652774 0.00590436
+v 0.00995461 -0.08627205 0.00425632
+v 0.02421188 -0.08150723 -0.00463633
+v 0.02991881 -0.08626105 0.00427777
+v 0.02706736 -0.08626654 0.00426858
+v 0.02136042 -0.08626929 0.00426245
+v 0.00424767 -0.08653049 0.00590436
+v -0.00839458 -0.07268019 0.00590441
+v 0.03274610 -0.07272280 0.00308620
+v 0.01850897 -0.07389678 -0.00463630
+v -0.00716217 -0.08641090 0.00826308
+v -0.00839458 -0.08646039 0.00724607
+v 0.01280203 -0.08627205 0.00425939
+v 0.03274610 -0.08112780 -0.00463633
+v 0.03274610 -0.08624317 0.00431453
+v 0.02991881 -0.08650712 0.00590436
+v 0.02706736 -0.08651400 0.00590436
+v 0.01850897 -0.08652225 0.00590436
+v 0.01565349 -0.08652499 0.00590436
+v 0.00995461 -0.08652774 0.00590436
+v 0.00710315 -0.08652912 0.00590436
+v 0.00710315 -0.08641227 0.00826614
+v 0.00139622 -0.08641227 0.00826614
+v -0.00145524 -0.08641227 0.00826308
+v -0.00839458 -0.07347623 0.02665499
+v 0.03274610 -0.07248773 0.00590441
+v 0.03274610 -0.07433531 -0.00463630
+v 0.02421188 -0.07393389 -0.00463630
+v 0.02347082 -0.07392152 -0.00463630
+v -0.00839458 -0.08133001 0.02665496
+v -0.00839458 -0.08640952 0.00826002
+v 0.02136042 -0.08133963 0.02665496
+v 0.03274610 -0.08646450 0.00589211
+v 0.03274610 -0.08646588 0.00590436
+v 0.03274610 -0.08637928 0.00814974
+v 0.02991881 -0.08640127 0.00823857
+v 0.02706736 -0.08640265 0.00825083
+v 0.02136042 -0.08640540 0.00825695
+v 0.01280203 -0.08640952 0.00826308
+v 0.02706736 -0.08133963 0.02665496
+v 0.03274610 -0.07335938 0.02665499
+v 0.03274610 -0.08122553 0.02665496
+v 0.02991881 -0.08133001 0.02665496
+f 1 2 5
+f 1 5 10
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+f 1 22 41
+f 1 41 40
+f 1 40 35
+f 1 35 18
+f 1 18 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 39
+f 1 39 38
+f 1 38 37
+f 1 37 24
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+f 1 13 6
+f 1 6 4
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+f 35 40 42
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+f 45 52 53
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+f 46 50 47
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+f 47 50 48
+f 48 50 49
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_41.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b2e9dde82b12ab0fbf445ebe4da3c5dd401c8e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_41.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.05421147 0.00002765 0.03034086
+v 0.05423465 0.00002765 0.03021744
+v 0.04547063 0.00002765 0.03034086
+v 0.05421513 -0.01866765 0.03034079
+v 0.05423710 -0.01579390 0.03022519
+v 0.05446529 0.00002766 0.02845839
+v 0.05447017 -0.01866764 0.02845832
+v 0.04756951 0.00002771 0.01438132
+v 0.04346206 -0.06506820 0.03034062
+v 0.05423831 -0.03302366 0.03022670
+v 0.05423710 -0.02154141 0.03022830
+v 0.05421635 -0.03589104 0.03034073
+v 0.05461904 0.00002766 0.02702428
+v 0.05477524 -0.02154139 0.02563852
+v 0.05447017 -0.02154140 0.02845831
+v 0.05592718 0.00002771 0.01438132
+v 0.04610273 -0.06506177 0.01438108
+v 0.04616497 -0.06506814 0.01438108
+v 0.05251651 -0.06506820 0.03034062
+v 0.05423831 -0.03589104 0.03022669
+v 0.05421513 -0.04187430 0.03034071
+v 0.05423710 -0.05312716 0.03021881
+v 0.05423831 -0.03876479 0.03022511
+v 0.05476669 0.00002767 0.02563860
+v 0.05565139 -0.00143785 0.01718235
+v 0.05446773 -0.04163853 0.02845824
+v 0.05446529 -0.05312715 0.02845819
+v 0.05476548 -0.05312714 0.02563840
+v 0.05565262 -0.05025337 0.01718218
+v 0.05565017 0.00002770 0.01718236
+v 0.05592718 0.00001497 0.01438132
+v 0.05488384 -0.06506814 0.01438108
+v 0.05279839 -0.06506820 0.02904867
+v 0.05310224 -0.06461578 0.02845815
+v 0.05269101 -0.06461579 0.03034062
+v 0.05421269 -0.05312716 0.03034066
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_42.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07eb90b1ec7dbeefc3fdf4f8cc51571e8d3a8904
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_42.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v -0.04685854 0.05229516 -0.00537337
+v -0.05457857 0.05229516 -0.00463890
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+v -0.05469353 0.03015569 -0.01625416
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+v -0.04674279 0.00144037 -0.01101174
+v -0.04787657 0.05229518 -0.01101270
+v -0.04735407 0.05026201 -0.01101157
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+v -0.05420355 0.04754258 -0.01125944
+v -0.05411871 0.03918459 -0.01625413
+v -0.05376906 0.05229517 -0.00927997
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_43.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e268a70521f2fd948cb58be7f8c30bd6985f492
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_43.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.04688041 -0.00002843 -0.00819301
+v -0.05452900 -0.00002844 -0.00463909
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+v -0.04679749 -0.00002842 -0.00957711
+v -0.04682252 -0.01005243 -0.00463913
+v -0.05460567 -0.00002843 -0.00819301
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+v -0.04680453 -0.03589622 -0.00819314
+v -0.04673099 -0.03014950 -0.01383414
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_44.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a4f55325082d8c58cd3c880a4e343386306ce1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_44.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v -0.00839458 -0.06583740 0.04546200
+v -0.01287030 -0.06583740 0.04545290
+v -0.01572407 -0.06748952 0.04507694
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+v -0.00839458 -0.06970727 0.04430986
+v -0.03569243 -0.06583736 0.03616927
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_45.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a1fa537a41e19c9acb444c254f5377a4ee15640
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_45.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_46.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..877b72e1a895e4a669b8dbee58b15653fb5ed21b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_46.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_47.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3610cca889e1015724756b65f2dbc27f89070fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_47.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v -0.04342621 -0.07632683 -0.01493130
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+v -0.02998221 -0.08148356 -0.01493132
+v -0.03569071 -0.08115210 -0.01493132
+v -0.03779995 -0.08094864 -0.00464039
+v -0.00014806 -0.08175818 -0.00464039
+v -0.02428339 -0.08143205 -0.00464039
+v -0.03569071 -0.08127032 -0.00464039
+v -0.03283646 -0.08145335 -0.01383120
+v -0.03283646 -0.08144536 -0.01493132
+v -0.03394914 -0.08133428 -0.01493132
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+f 1 13 12
+f 1 12 29
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+f 1 28 31
+f 1 31 37
+f 1 37 48
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+f 47 54 48
+f 48 54 55
+f 49 56 53
+f 49 53 50
+f 53 56 55
+f 53 55 54
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_48.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c188e4e52ec152bd2b0c3917a8914184100f77
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_48.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.04029635 0.08038891 -0.00463879
+v 0.04007277 0.08049293 -0.00463879
+v 0.04029635 0.07207757 -0.00463883
+v 0.04029635 0.08025000 -0.03151199
+v 0.03957141 0.08062532 -0.00463879
+v 0.03919878 0.08071525 -0.03151198
+v 0.02299430 0.07398968 -0.00463882
+v 0.02299430 0.07360396 -0.03151201
+v 0.04029635 0.07211739 -0.03151202
+v 0.03847892 0.08083147 -0.00463879
+v 0.03902940 0.08075970 -0.03151198
+v 0.03861950 0.08086562 -0.03151198
+v 0.03639895 0.08129116 -0.03151198
+v 0.02299430 0.08145371 -0.00463879
+v 0.02299430 0.08157013 -0.03151198
+v 0.03773535 0.08094590 -0.00463879
+v 0.03562489 0.08140464 -0.03151198
+v 0.03562489 0.08125890 -0.00463879
+v 0.02347365 0.08146695 -0.00463879
+v 0.02706956 0.08173839 -0.01665228
+v 0.02992190 0.08161073 -0.01665228
+f 1 2 5
+f 1 5 10
+f 1 10 16
+f 1 16 18
+f 1 18 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 15
+f 4 15 17
+f 4 17 13
+f 4 13 12
+f 4 12 11
+f 4 11 6
+f 5 6 11
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+f 5 12 13
+f 5 13 10
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+f 7 15 8
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+f 13 17 18
+f 13 18 16
+f 14 19 20
+f 14 20 15
+f 15 20 17
+f 17 20 21
+f 17 21 18
+f 18 21 20
+f 18 20 19
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_49.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33bdba0e9d2acbe2d9a3de53761e9e2a116cb540
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_49.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.03463478 0.08150071 -0.03179321
+v -0.03569299 0.08147106 -0.03179321
+v -0.03569299 0.08111628 -0.02789196
+v -0.03351432 0.08111189 -0.02789196
+v -0.03351432 0.08149192 -0.03179321
+v -0.03866013 0.08096254 -0.03179321
+v -0.03822439 0.08065939 -0.02789196
+v -0.03351432 0.07417828 -0.02789199
+v -0.03351432 0.07345232 -0.03179324
+v -0.03965090 0.08034857 -0.02789196
+v -0.04151660 0.07994112 -0.03179322
+v -0.03565495 0.07397509 -0.02789199
+v -0.04710333 0.07028149 -0.03012963
+v -0.04389585 0.07028149 -0.03094731
+v -0.04225839 0.07028150 -0.03179325
+v -0.04139729 0.07946333 -0.02789197
+v -0.04399441 0.07861107 -0.03179322
+v -0.03850797 0.07372358 -0.02789199
+v -0.04721918 0.07028149 -0.03012276
+v -0.05117883 0.07028150 -0.03179325
+v -0.04317827 0.07809704 -0.02789197
+v -0.04506472 0.07771045 -0.03179322
+v -0.03854428 0.07372138 -0.02789199
+v -0.05009122 0.07028149 -0.03102178
+v -0.04095983 0.07412886 -0.02789199
+v -0.04098750 0.07413435 -0.02789199
+v -0.04241228 0.07519312 -0.02789198
+v -0.04317827 0.07662860 -0.02789198
+v -0.05022782 0.07028149 -0.03109435
+v -0.04946183 0.07292952 -0.03179324
+v -0.04753388 0.07519314 -0.03179323
+v -0.04895002 0.07368406 -0.03179324
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+f 20 29 21
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+f 21 32 30
+f 21 29 24
+f 21 24 28
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_5.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d8115ee116b61ec62e17d78648a0477f950f94c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_5.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.05757028 -0.00002423 -0.03920612
+v 0.05780286 -0.05310265 -0.03920632
+v 0.05754759 -0.05310264 -0.04154761
+v 0.05744548 -0.00002422 -0.04017703
+v 0.05728098 -0.00002423 -0.03735972
+v 0.05728098 -0.00143744 -0.03735973
+v 0.05728098 -0.01005177 -0.03736500
+v 0.05728098 -0.01292495 -0.03736711
+v 0.05727531 -0.04163593 -0.03737979
+v 0.05727531 -0.05310265 -0.03739871
+v 0.05730934 -0.00002422 -0.04118673
+v 0.05608974 -0.05310263 -0.04295679
+v 0.05501763 -0.00002425 -0.03355787
+v 0.05524453 -0.01292497 -0.03355792
+v 0.05525587 -0.01579295 -0.03355793
+v 0.05526155 -0.04450912 -0.03355803
+v 0.05526155 -0.04451951 -0.03355803
+v 0.05726964 -0.05310265 -0.03738299
+v 0.05656056 -0.00002422 -0.04187769
+v 0.05607840 -0.05310263 -0.04296413
+v 0.05577775 -0.00002421 -0.04259591
+v 0.04598691 -0.00002425 -0.03355787
+v 0.05522751 -0.04738230 -0.03355804
+v 0.05496090 -0.05310267 -0.03362937
+v 0.05466592 -0.05310263 -0.04359637
+v 0.05434826 -0.00002421 -0.04349657
+v 0.04581106 -0.01292497 -0.03355792
+v -0.00014806 -0.00002423 -0.03783469
+v -0.00014806 -0.00151537 -0.03723706
+v -0.00014806 -0.00430543 -0.03672120
+v 0.05491552 -0.05310267 -0.03355807
+v 0.05273725 -0.05310263 -0.04400319
+v 0.04988963 -0.05310263 -0.04426951
+v 0.05273725 -0.00002421 -0.04357625
+v 0.04578836 -0.01579295 -0.03355793
+v -0.00014806 -0.00002421 -0.04310338
+v -0.00014806 -0.00717860 -0.03672331
+v 0.04573164 -0.04450912 -0.03355803
+v 0.04598691 -0.05310267 -0.03355807
+v 0.04988963 -0.00002421 -0.04359302
+v 0.05134180 -0.00002421 -0.04358464
+v -0.00014806 -0.05310263 -0.04336885
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+v -0.00014806 -0.05025544 -0.04353449
+v -0.00014806 -0.00717857 -0.04356580
+v -0.00014806 -0.00430540 -0.04356264
+v -0.00014806 -0.00262202 -0.04351440
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+v -0.00014806 -0.05025546 -0.03676435
+v 0.04574866 -0.04561579 -0.03355804
+v 0.04582807 -0.04837467 -0.03355805
+v -0.00014806 -0.05180375 -0.03688704
+v -0.00014806 -0.05310265 -0.03699085
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+f 40 46 47
+f 40 47 48
+f 49 51 50
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_50.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2869691b52a1226c4676a7110ea828eeeeff866
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_50.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.04771086 -0.06974366 -0.04845308
+v -0.04710098 -0.06974366 -0.04841300
+v -0.04995295 -0.06974366 -0.04844215
+v -0.04995295 -0.06748775 -0.04844942
+v -0.04995295 -0.06461617 -0.04844395
+v -0.04995295 -0.06412805 -0.04842938
+v -0.04485888 -0.06974366 -0.04816161
+v -0.05056635 -0.06974366 -0.04843850
+v -0.05280492 -0.06748775 -0.04843303
+v -0.05280492 -0.06461617 -0.04843848
+v -0.05280492 -0.06412805 -0.04843484
+v -0.05043592 -0.06412805 -0.04843848
+v -0.02430635 -0.06412807 -0.04348539
+v -0.02430635 -0.06470744 -0.04352364
+v -0.02430635 -0.06655824 -0.04352364
+v -0.02430635 -0.06974368 -0.04325952
+v -0.05280492 -0.06974366 -0.04842393
+v -0.05341833 -0.06974366 -0.04840936
+v -0.05565690 -0.06461617 -0.04837290
+v -0.05565690 -0.06412805 -0.04834193
+v -0.02430635 -0.06412809 -0.03695838
+v -0.02430635 -0.06974371 -0.03642465
+v -0.05565690 -0.06974366 -0.04820169
+v -0.05565690 -0.06748775 -0.04836198
+v -0.05851240 -0.06461618 -0.04745661
+v -0.05854060 -0.06412806 -0.04738739
+v -0.02430635 -0.06413304 -0.03680900
+v -0.04675197 -0.06412812 -0.02984297
+v -0.04670614 -0.06456952 -0.02984297
+v -0.04729134 -0.06742460 -0.02984298
+v -0.04711861 -0.06974373 -0.03014174
+v -0.02430635 -0.06461621 -0.03677439
+v -0.04673434 -0.06429687 -0.02984297
+v -0.05626677 -0.06974366 -0.04794666
+v -0.05866751 -0.06730910 -0.04711414
+v -0.06006000 -0.06461618 -0.04642737
+v -0.06006000 -0.06412806 -0.04642373
+v -0.05890018 -0.06412806 -0.04719429
+v -0.05358402 -0.06412812 -0.02984297
+v -0.04995295 -0.06831235 -0.02984298
+v -0.05005871 -0.06974373 -0.03067913
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+v -0.05998245 -0.06623282 -0.04632354
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+v -0.05172971 -0.06957552 -0.03172659
+v -0.05878384 -0.06974369 -0.04202444
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_51.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44060a9d8c630c1340f3ab9d194f2a7fbe45372a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_51.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_52.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b05a406eec5a514e947da589742ad446a3d70c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_52.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_53.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a246983bc1d214f1e93e18805d64b5c16622cb1b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_53.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_54.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0f3732e6e85d772ade2604780d3e0c241859f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_54.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_55.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1768aa9c48511e00064c8091cf6911ae7ad3e870
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_55.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_56.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4250e63945e0c27c88c77374db164927bfd170cf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_56.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_57.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6a6f3ec620b0b684847929f1ae0f9ab76ec33e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_57.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_58.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..331558cc1c368638d3065d7cfc1d9f827375de6a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_58.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_59.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90c9b75b8e68720dec1b47e224822729c36d5c8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_59.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_6.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25915da9a85b8da0041ed4b9cc7c23f87b971ab1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_6.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_60.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd7941f9e09c74676de1600353406e9488262f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_60.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_61.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a428536df5bffb35a1c3fe04070a28156b5e077
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_61.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_62.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b75031b5086433848ff220f2e84a1e31764176a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_62.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+v 0.04029865 0.07256247 -0.00873376
+v 0.04265440 0.06874545 -0.01101189
+v 0.04646513 0.06284125 -0.01252448
+v 0.04646513 0.06330847 -0.00463995
+v 0.04549614 0.07744284 -0.00463990
+v 0.04549554 0.07743081 -0.00537382
+v 0.04646513 0.07631593 -0.00463990
+v 0.04646513 0.07616477 -0.00537382
+v 0.04646513 0.07302802 -0.01269238
+v 0.04646513 0.07276176 -0.01321365
+v 0.04646513 0.07090478 -0.01411335
+v 0.04646513 0.07033789 -0.01417769
+v 0.04646513 0.06807035 -0.01427149
+v 0.04339275 0.07762497 -0.01577965
+v 0.04029865 0.07306581 -0.01211440
+v 0.04098811 0.07404328 -0.01577967
+v 0.04646513 0.06437700 -0.01404576
+v 0.04271235 0.06884509 -0.01250047
+v 0.04339275 0.07642763 -0.01577966
+v 0.04197581 0.07477508 -0.01577967
+v 0.04231993 0.07508600 -0.01577966
+v 0.04261093 0.07543472 -0.01577966
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 24
+f 1 24 10
+f 1 10 5
+f 1 5 13
+f 1 13 16
+f 1 16 14
+f 1 14 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
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+f 3 28 31
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+f 3 30 29
+f 3 29 25
+f 3 25 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 9 25 26
+f 9 26 12
+f 9 12 27
+f 9 27 24
+f 10 27 11
+f 10 24 27
+f 11 27 12
+f 12 26 22
+f 12 22 21
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+f 12 17 16
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+f 14 16 15
+f 22 26 28
+f 22 28 23
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+f 26 29 30
+f 26 30 31
+f 26 31 28
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_63.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78cd816eaab4e9ecb45056aae7a98a38dffa68ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_63.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.04573348 -0.04451128 -0.03355803
+v 0.04575027 -0.04561766 -0.03355804
+v 0.04670358 -0.03302076 -0.02572196
+v 0.04579038 -0.01579280 -0.03355793
+v 0.04596854 -0.05384702 -0.03355807
+v 0.04671384 -0.03364771 -0.02572196
+v 0.04678287 -0.00002428 -0.02572184
+v 0.04581369 -0.01292148 -0.03355792
+v 0.05490750 -0.05384702 -0.03355807
+v 0.04694984 -0.05384704 -0.02792957
+v 0.04680246 -0.03589208 -0.02572197
+v 0.05452878 -0.00002428 -0.02572184
+v 0.04598813 -0.00002425 -0.03355787
+v 0.05442618 -0.05384704 -0.02716330
+v 0.05522745 -0.04738260 -0.03355804
+v 0.04758600 -0.05384705 -0.02572204
+v 0.05501757 -0.00002425 -0.03355787
+v 0.05457356 -0.02666170 -0.02572194
+v 0.05525730 -0.01579280 -0.03355793
+v 0.05524983 -0.01292148 -0.03355792
+v 0.05432171 -0.05384704 -0.02632876
+v 0.05455304 -0.03302076 -0.02572196
+v 0.05526289 -0.04452181 -0.03355803
+v 0.05395792 -0.05384705 -0.02572204
+v 0.05405772 -0.05384705 -0.02586087
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
+f 1 17 20
+f 1 20 19
+f 1 19 23
+f 1 23 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 16
+f 3 16 24
+f 3 24 22
+f 3 22 18
+f 3 18 12
+f 3 12 7
+f 3 7 4
+f 4 7 8
+f 5 9 14
+f 5 14 21
+f 5 21 25
+f 5 25 24
+f 5 24 16
+f 5 16 10
+f 5 10 6
+f 6 10 11
+f 7 12 17
+f 7 17 13
+f 7 13 8
+f 9 15 14
+f 10 16 11
+f 12 18 19
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+f 14 15 22
+f 14 22 21
+f 15 23 22
+f 18 22 23
+f 18 23 19
+f 21 22 25
+f 22 24 25
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_64.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28cef65712aa12385107e74d2c5be599a7e54302
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_64.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.05396280 -0.06658059 -0.03355756
+v 0.05158408 -0.06658060 -0.02989818
+v 0.04902566 -0.07349286 -0.02793023
+v 0.05373862 -0.06748820 -0.03355757
+v 0.04319896 -0.06658059 -0.03355756
+v 0.05112506 -0.06658060 -0.02941996
+v 0.04903812 -0.07037484 -0.02793022
+v 0.04852750 -0.07475210 -0.02793023
+v 0.05264445 -0.07020502 -0.03355758
+v 0.03578881 -0.07226968 -0.03355759
+v 0.04346583 -0.06935904 -0.02793021
+v 0.04521118 -0.06658060 -0.03087611
+v 0.05018922 -0.06658060 -0.02899297
+v 0.04801689 -0.06658061 -0.02809218
+v 0.04825707 -0.06882860 -0.02793021
+v 0.04775180 -0.07533964 -0.02793024
+v 0.04703124 -0.07738925 -0.03355760
+v 0.04745468 -0.07704815 -0.03355760
+v 0.04914309 -0.07541024 -0.03355760
+v 0.05065714 -0.07351689 -0.03355759
+v 0.05080481 -0.07330201 -0.03355759
+v 0.05257862 -0.07033575 -0.03355758
+v 0.03578881 -0.07288276 -0.03355759
+v 0.03578881 -0.07393464 -0.03081002
+v 0.03578881 -0.07570478 -0.02826191
+v 0.03578881 -0.07588811 -0.02804208
+v 0.03578881 -0.07597526 -0.02801674
+v 0.03578881 -0.07705568 -0.02793024
+v 0.04489093 -0.06853258 -0.02793021
+v 0.04750093 -0.06658061 -0.02845911
+v 0.04684977 -0.06770460 -0.02793021
+v 0.04709707 -0.06770460 -0.02793021
+v 0.04742977 -0.07556954 -0.02793024
+v 0.04489982 -0.07890093 -0.03355761
+v 0.03831876 -0.08150955 -0.03355762
+v 0.03578881 -0.08193030 -0.03355432
+v 0.03578881 -0.07945994 -0.02793025
+v 0.04729456 -0.07565820 -0.02793024
+v 0.04446927 -0.07919245 -0.03355761
+v 0.03865146 -0.08146598 -0.03355762
+v 0.03578881 -0.08036453 -0.02887293
+v 0.04133263 -0.08069511 -0.03355762
+v 0.04425755 -0.07930965 -0.03355761
+v 0.03954281 -0.08121954 -0.03355762
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+f 11 26 27
+f 11 27 28
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+f 11 14 30
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+f 14 32 15
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+f 17 33 34
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+f 33 38 39
+f 33 39 34
+f 35 40 36
+f 36 40 41
+f 37 41 38
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+f 40 44 41
+f 41 44 42
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_65.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab46cd1d207612763e1d7a2cc1d2c62004eca4b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_65.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.05441558 0.05229525 -0.02989543
+v -0.05440487 0.05229525 -0.03070189
+v -0.04715250 0.05229525 -0.02989543
+v -0.05441082 0.05381631 -0.02989542
+v -0.05434894 0.05229525 -0.03112415
+v -0.05439654 0.05313500 -0.03054601
+v -0.05398358 0.06174908 -0.03179310
+v -0.04689663 0.05229525 -0.03074796
+v -0.04713703 0.05230053 -0.02989543
+v -0.05436084 0.05497647 -0.02989542
+v -0.05430133 0.05229526 -0.03148159
+v -0.05425611 0.05229526 -0.03179314
+v -0.05379079 0.06462220 -0.03179309
+v -0.04676929 0.05229525 -0.03129544
+v -0.04225768 0.07028041 -0.03179307
+v -0.04694304 0.05313500 -0.02989542
+v -0.05379912 0.06174907 -0.02989539
+v -0.04665504 0.05229526 -0.03179314
+v -0.05353968 0.06462219 -0.02989538
+v -0.05290060 0.06751292 -0.03179308
+v -0.05117855 0.07028041 -0.03179307
+v -0.04389642 0.07028040 -0.03094741
+v -0.04656697 0.06363103 -0.02989539
+v -0.05236626 0.06730869 -0.02989537
+v -0.05168434 0.06962903 -0.03179307
+v -0.05022887 0.07028040 -0.03109436
+v -0.04710608 0.07028040 -0.03013000
+v -0.04720962 0.06731045 -0.02989537
+v -0.04669908 0.06457642 -0.02989538
+v -0.04995514 0.06828048 -0.02989537
+v -0.04722033 0.07028040 -0.03012293
+v -0.05009200 0.07028040 -0.03102191
+v -0.04726913 0.06744425 -0.02989537
+v -0.04739289 0.06749883 -0.02989537
+f 1 2 5
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+f 1 12 18
+f 1 18 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
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+f 1 16 23
+f 1 23 29
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+f 1 33 34
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+f 1 30 24
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+f 1 4 2
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+f 22 28 29
+f 22 29 23
+f 24 30 31
+f 24 31 32
+f 24 32 26
+f 27 31 33
+f 27 33 28
+f 30 34 31
+f 31 34 33
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_66.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5128471db1618d32a112601a1e94d55a03c9e6f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_66.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.04051566 0.08058292 0.01806463
+v 0.04074603 0.08048156 0.01806463
+v 0.04310462 0.08344822 0.01028201
+v 0.04133293 0.08477827 0.00872193
+v 0.04051566 0.08502302 0.00869082
+v 0.04051566 0.07190800 0.01806459
+v 0.04176260 0.08003410 0.01806462
+v 0.04500612 0.08294143 0.00934640
+v 0.04410656 0.08372264 0.00853303
+v 0.04568810 0.08333451 0.00746631
+v 0.04133293 0.08521339 0.00590622
+v 0.04051566 0.08533452 0.00666404
+v 0.04051566 0.06919853 0.00590616
+v 0.04517067 0.06017256 0.00590613
+v 0.04541750 0.06017255 0.00783957
+v 0.04713616 0.06017251 0.01806455
+v 0.04425283 0.07864719 0.01806462
+v 0.04706120 0.08186850 0.00878192
+v 0.04843430 0.08039507 0.01009532
+v 0.04892613 0.08079557 0.00821745
+v 0.04908702 0.08092413 0.00590621
+v 0.04568810 0.08333452 0.00673071
+v 0.04443567 0.08389324 0.00583733
+v 0.04051566 0.08542847 0.00583289
+v 0.04555463 0.08325788 0.00485283
+v 0.04365313 0.08373008 0.00383945
+v 0.04051566 0.06948284 0.00308602
+v 0.04522004 0.06017256 0.00472163
+v 0.05526507 0.06017251 0.01806455
+v 0.04577586 0.07767068 0.01806462
+v 0.04713251 0.07648897 0.01806461
+v 0.05140174 0.07763857 0.01020421
+v 0.04988054 0.07961633 0.00898192
+v 0.05174547 0.07799705 0.00872191
+v 0.05051132 0.07967568 0.00590620
+v 0.04883288 0.08071648 0.00405723
+v 0.04679791 0.08252859 0.00583732
+v 0.04051566 0.08450635 0.00360388
+v 0.04416141 0.07837782 -0.00463880
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+v 0.04116473 0.08405394 0.00297274
+v 0.04150115 0.07982899 -0.00463880
+v 0.04051566 0.08028635 -0.00463880
+v 0.04051566 0.07032834 0.00026588
+v 0.04534985 0.06017257 0.00337933
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+v 0.05197401 0.07823933 0.00590620
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+v 0.05912109 0.06175229 0.00590614
+v 0.05507675 0.06175224 0.01806456
+v 0.05513708 0.06125780 0.01806456
+v 0.05878649 0.06462251 0.00590615
+v 0.05838243 0.06462250 0.00872186
+v 0.05130483 0.07178192 0.01806459
+v 0.05151509 0.07141356 0.01806459
+v 0.05204349 0.07048155 0.01806459
+v 0.05696545 0.06875352 0.01001971
+v 0.05658332 0.07046923 0.00893745
+v 0.05507126 0.07340372 0.00887523
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+v 0.05676250 0.07122079 0.00590617
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+v 0.05436003 0.07493896 0.00419944
+v 0.04743053 0.07534691 -0.00463881
+v 0.04714896 0.06017260 -0.00463887
+v 0.05919422 0.06017256 0.00590613
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+v 0.05358114 0.06466704 -0.00463885
+v 0.05253532 0.06749523 -0.00463884
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_67.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0db67f6a132c702f8b15d1514020896024c7ff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_67.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.04710320 0.07028066 -0.01444483
+v -0.04710171 0.07036641 -0.01444099
+v -0.04251518 0.07361114 -0.01345904
+v -0.04148056 0.07361114 -0.01325555
+v -0.04529449 0.07028066 -0.01374605
+v -0.04906971 0.07028066 -0.01373261
+v -0.05001203 0.07028066 -0.01338130
+v -0.04912777 0.07241295 -0.01306645
+v -0.04710171 0.07266237 -0.01330258
+v -0.04401425 0.07361114 -0.01303670
+v -0.03854494 0.07361113 -0.01109488
+v -0.04411697 0.07028066 -0.01328627
+v -0.05127291 0.07028065 -0.01101139
+v -0.05086800 0.07093143 -0.01101139
+v -0.04944187 0.07276930 -0.01101138
+v -0.04719699 0.07361113 -0.01101138
+v -0.04710171 0.07361113 -0.01109585
+v -0.03710988 0.07361112 -0.00819321
+v -0.04294987 0.07028065 -0.01219010
+v -0.05125058 0.07028063 -0.00463883
+v -0.05103026 0.07065753 -0.00463883
+v -0.05054496 0.07142438 -0.00463883
+v -0.04948951 0.07291045 -0.00463882
+v -0.04888065 0.07361111 -0.00463882
+v -0.03606634 0.07361111 -0.00463882
+v -0.04255686 0.07028065 -0.01101619
+v -0.04205221 0.07028063 -0.00463883
+v -0.04226509 0.07028064 -0.00835063
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 19
+f 1 19 26
+f 1 26 28
+f 1 28 27
+f 1 27 20
+f 1 20 13
+f 1 13 7
+f 1 7 6
+f 1 6 2
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+f 2 7 8
+f 2 8 9
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+f 3 11 4
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+f 25 28 26
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_68.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e502338cc3dadce1798c43f5ae0c96cba64c2f63
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_68.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04677225 -0.00002348 -0.02547124
+v 0.05453629 -0.00002348 -0.02547124
+v 0.04675699 -0.00002348 -0.02510901
+v 0.04676995 0.00125175 -0.02547124
+v 0.05453476 0.00147294 -0.02547123
+v 0.05454697 -0.00002348 -0.02510901
+v 0.04675470 0.00143940 -0.02510900
+v 0.04676080 -0.00002351 -0.01527778
+v 0.04676995 0.00143940 -0.02547123
+v 0.05453019 0.00174124 -0.02547123
+v 0.05454544 0.00143940 -0.02510900
+v 0.05448594 0.00003957 -0.01527778
+v 0.05448594 -0.00002351 -0.01527778
+v 0.04705373 0.00431086 -0.02547122
+v 0.04676232 0.00068956 -0.01527778
+v 0.04676461 0.00143937 -0.01527777
+v 0.05438754 0.00455361 -0.02547122
+v 0.05447984 0.00143937 -0.01527777
+v 0.04793937 0.00697471 -0.02547121
+v 0.04719332 0.00289586 -0.01527777
+v 0.05435168 0.00480913 -0.02547122
+v 0.05433261 0.00320808 -0.01527777
+v 0.05441728 0.00231774 -0.01527777
+v 0.04803396 0.00720069 -0.02547121
+v 0.04762356 0.00410242 -0.01527776
+v 0.05407630 0.00572343 -0.02547122
+v 0.05355606 0.00406489 -0.01527777
+v 0.04988991 0.00813335 -0.02547121
+v 0.04988991 0.00535050 -0.01527776
+v 0.05271542 0.00720867 -0.02547121
+v 0.05280696 0.00460548 -0.01527776
+v 0.05065122 0.00810381 -0.02547121
+v 0.05059782 0.00519079 -0.01527776
+v 0.05253081 0.00734043 -0.02547121
+f 1 2 6
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+f 1 8 3
+f 1 3 4
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+f 31 32 33
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_69.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f17ce7414e99c6b2891b24e5e3db2f80b6ff257
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_69.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.04696449 -0.04183941 -0.00463924
+v -0.04697275 -0.04738541 -0.01101167
+v -0.04699920 -0.04183941 -0.00517908
+v -0.05450710 -0.04183941 -0.00463924
+v -0.04624303 -0.06412604 -0.00463933
+v -0.04618023 -0.06412603 -0.00819337
+v -0.04617197 -0.06412602 -0.01101174
+v -0.04778345 -0.04738540 -0.01330470
+v -0.04946767 -0.04183937 -0.01522469
+v -0.04701738 -0.04183941 -0.00537388
+v -0.04701242 -0.04183941 -0.00532311
+v -0.04664715 -0.06317911 -0.01522477
+v -0.04690746 -0.05887015 -0.01522476
+v -0.05441785 -0.04183941 -0.00525472
+v -0.05434429 -0.04577091 -0.01042934
+v -0.05448974 -0.05887015 -0.01522476
+v -0.05461370 -0.05025662 -0.00463927
+v -0.05379804 -0.06412604 -0.00463933
+v -0.04654798 -0.06412601 -0.01428187
+v -0.05078992 -0.04183937 -0.01522469
+v -0.04680168 -0.06412600 -0.01522478
+v -0.05413687 -0.04183940 -0.00686906
+v -0.05276008 -0.04183939 -0.01078784
+v -0.05434843 -0.05727092 -0.01522475
+v -0.05442032 -0.05804326 -0.01522475
+v -0.05450048 -0.06029047 -0.01522476
+v -0.05455833 -0.05238165 -0.00463928
+v -0.05446578 -0.06174352 -0.01522477
+v -0.05394349 -0.06412603 -0.00819337
+v -0.05399638 -0.06186137 -0.00463932
+v -0.05426000 -0.06324897 -0.00659145
+v -0.05415009 -0.06412600 -0.01522478
+v -0.05453850 -0.05312780 -0.00463929
+v -0.05439305 -0.06264022 -0.01522477
+v -0.05447652 -0.05496921 -0.00463929
+v -0.05432446 -0.06348238 -0.01522477
+v -0.05417240 -0.06404527 -0.01522478
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+f 30 35 31
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+f 31 37 32
+f 31 35 33
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_7.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c11eaa9e03fcef76c185d94bb263e5ab6131bf2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_7.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02718540 0.05230022 -0.04340897
+v -0.02427949 0.05230022 -0.04341032
+v -0.02718540 0.05230020 -0.03692410
+v -0.02718540 0.07592028 -0.04555793
+v -0.01093413 0.05230022 -0.04341436
+v -0.02510709 0.05230020 -0.03692275
+v -0.01677788 0.07349087 -0.03179324
+v -0.01857411 0.07350044 -0.03179324
+v -0.02533594 0.07354194 -0.03179324
+v -0.02718540 0.07360579 -0.03179324
+v -0.02718540 0.07911580 -0.04539758
+v 0.00000029 0.08091946 -0.04351261
+v 0.00000029 0.07992664 -0.04355304
+v 0.00000029 0.07898171 -0.04359077
+v 0.00000029 0.07610862 -0.04359347
+v 0.00000029 0.05668329 -0.04352078
+v 0.00000029 0.05230022 -0.04341706
+v -0.00146065 0.05230022 -0.04341706
+v -0.02142680 0.05230020 -0.03692140
+v -0.01392519 0.07348767 -0.03179324
+v -0.02718540 0.08148126 -0.03179321
+v -0.02718540 0.07915411 -0.04539355
+v 0.00000029 0.08235600 -0.04319733
+v 0.00000029 0.05230020 -0.03692140
+v -0.01287140 0.07349406 -0.03179324
+v -0.02713217 0.08148446 -0.03179321
+v -0.02718540 0.08395852 -0.03673400
+v -0.02718540 0.08197292 -0.04418764
+v -0.02718540 0.08324347 -0.04346679
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+v 0.00000029 0.07366006 -0.03179324
+v -0.01001871 0.07351959 -0.03179324
+v -0.02322037 0.08164727 -0.03179321
+v -0.02427949 0.08396490 -0.03672995
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+v -0.02142680 0.08396490 -0.03672322
+v -0.00146065 0.08396810 -0.03670705
+v 0.00000029 0.08396810 -0.03670705
+v 0.00000029 0.08434799 -0.03798570
+v 0.00000029 0.08470873 -0.03920507
+v -0.01857411 0.08396490 -0.03671918
+v -0.00040153 0.08207185 -0.03179321
+f 1 2 5
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+f 1 3 10
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+f 38 45 39
+f 40 43 47
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_70.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a81922a5d8d267e316a6893149dc578bebc344b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_70.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.05214705 -0.06506821 0.03185634
+v 0.05157555 -0.06506821 0.03358444
+v 0.05140657 -0.06624778 0.03291432
+v 0.05210528 -0.06519246 0.03185634
+v 0.04267073 -0.06506821 0.03185634
+v 0.05115024 -0.06506822 0.03460825
+v 0.05100405 -0.06525085 0.03479375
+v 0.05111037 -0.06751866 0.03185633
+v 0.05156606 -0.06658908 0.03185634
+v 0.05038887 -0.06731807 0.03395188
+v 0.03275013 -0.07140614 0.03185632
+v 0.03275013 -0.06629869 0.03638959
+v 0.03611269 -0.06506822 0.03638959
+v 0.05104012 -0.06506822 0.03487141
+v 0.05084266 -0.06506822 0.03521312
+v 0.04930663 -0.06688248 0.03638958
+v 0.04881677 -0.06785098 0.03638958
+v 0.04857563 -0.06908744 0.03568175
+v 0.05082747 -0.06801863 0.03185633
+v 0.04896486 -0.06965177 0.03409787
+v 0.05054267 -0.06850812 0.03185633
+v 0.03275013 -0.08035918 0.03185628
+v 0.03275013 -0.07845811 0.03638954
+v 0.05014964 -0.06506822 0.03638959
+v 0.04747820 -0.06982990 0.03638957
+v 0.04647949 -0.07106935 0.03638957
+v 0.04593457 -0.07213366 0.03594179
+v 0.04790350 -0.07108881 0.03409787
+v 0.04935789 -0.07039722 0.03185632
+v 0.04834400 -0.07164715 0.03237866
+v 0.03275013 -0.08029033 0.03216871
+v 0.03276911 -0.08035918 0.03185628
+v 0.03275013 -0.07960026 0.03409784
+v 0.03277481 -0.07845661 0.03638954
+v 0.04497004 -0.07265758 0.03638956
+v 0.04500801 -0.07413952 0.03409786
+v 0.04647759 -0.07270398 0.03409786
+v 0.04300300 -0.07485654 0.03578602
+v 0.04891550 -0.07107982 0.03185632
+v 0.04551496 -0.07458259 0.03248870
+v 0.04654405 -0.07378474 0.03185631
+v 0.04763009 -0.07263810 0.03185631
+v 0.03275013 -0.07960625 0.03408497
+v 0.03277481 -0.08028883 0.03216605
+v 0.03372415 -0.08021398 0.03185629
+v 0.03277481 -0.07959876 0.03409784
+v 0.03562663 -0.07802850 0.03630922
+v 0.03508550 -0.07807640 0.03638954
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_71.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8212ab2f2611175238dbf237a34756d00a740d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_71.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.04989016 0.04195146 -0.01527763
+v 0.05141542 0.04163427 -0.01527763
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_72.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d0a8f8b760ef42c72b7f871c27027b697dd57c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_72.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.04995521 0.06773268 -0.01625403
+v -0.04726959 0.06744297 -0.02989270
+v -0.04739181 0.06749832 -0.02989270
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_73.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90ec4bf6d2dd17267b248ff5489d3f794bf3fd9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_73.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.04713551 0.06017252 0.01806651
+v 0.04305379 0.06965106 0.01806655
+v 0.05526667 0.06017252 0.01806651
+v 0.04305379 0.06017247 0.03360847
+v 0.04305379 0.07930378 0.01806658
+v 0.05518657 0.06085236 0.01806651
+v 0.05421336 0.06056016 0.02739287
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_74.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebf75480a87a01c2dc10b7a3d473600cb823acf8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_74.obj
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+f 108 111 110
+f 109 110 115
+f 110 111 115
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_75.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa1e6d12d819374a6855c465580e89cd2160be04
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_75.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.04662216 0.00749317 -0.03179348
+v -0.04669736 -0.00002425 -0.03179351
+v -0.05459637 0.00749317 -0.03179348
+v -0.04714620 0.00749315 -0.02823266
+v -0.04685481 0.00143929 -0.01625578
+v -0.04684305 -0.00002431 -0.01625579
+v -0.05462378 -0.00002425 -0.03179351
+v -0.05440915 0.00749315 -0.02820680
+v -0.05462221 0.00125834 -0.03179351
+v -0.05450394 -0.00002431 -0.01625579
+v -0.05448749 0.00143929 -0.01625578
+v -0.05437469 0.00314352 -0.01625578
+v -0.04725508 0.00749315 -0.02791932
+v -0.04770471 0.00387863 -0.01625578
+v -0.05462378 0.00001475 -0.03179351
+v -0.05379816 0.00749315 -0.02697017
+v -0.05283154 0.00434000 -0.01625577
+v -0.04802822 0.00749314 -0.02579743
+v -0.04818880 0.00414280 -0.01625577
+v -0.05322477 0.00749315 -0.02635110
+v -0.04995519 0.00503097 -0.01625577
+v -0.05246573 0.00749314 -0.02559056
+v -0.04818097 0.00749314 -0.02565901
+v -0.04988469 0.00749314 -0.02497909
+v -0.04995519 0.00749314 -0.02496540
+f 1 2 7
+f 1 7 15
+f 1 15 9
+f 1 9 3
+f 1 3 8
+f 1 8 16
+f 1 16 20
+f 1 20 22
+f 1 22 25
+f 1 25 24
+f 1 24 23
+f 1 23 18
+f 1 18 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
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+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 8
+f 4 13 14
+f 4 14 5
+f 5 14 19
+f 5 19 21
+f 5 21 17
+f 5 17 12
+f 5 12 11
+f 5 11 10
+f 5 10 6
+f 7 10 15
+f 8 12 17
+f 8 17 16
+f 9 15 10
+f 13 18 14
+f 14 18 19
+f 16 17 20
+f 17 21 22
+f 17 22 20
+f 18 23 21
+f 18 21 19
+f 21 24 25
+f 21 25 22
+f 21 23 24
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_76.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9b512745d094aa2661487d21e7f91dd83573df
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_76.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.03351432 0.08117349 -0.00463879
+v -0.03569249 0.08127672 -0.00463879
+v -0.03351432 0.07419260 -0.00463882
+v -0.03351432 0.08132685 -0.01034501
+v -0.03854457 0.08082656 -0.00463879
+v -0.03351432 0.08136633 -0.01316512
+v -0.03351432 0.08135801 -0.02162088
+v -0.03351432 0.08135649 -0.02228779
+v -0.03569249 0.08111587 -0.02789158
+v -0.03606555 0.07361111 -0.00463882
+v -0.03351432 0.07404915 -0.01101422
+v -0.04013909 0.08049028 -0.00463879
+v -0.03822417 0.08065964 -0.02789158
+v -0.03351432 0.08126617 -0.02510789
+v -0.03351432 0.08111208 -0.02789158
+v -0.04888187 0.07361111 -0.00463882
+v -0.03710951 0.07361112 -0.00819411
+v -0.03854457 0.07372127 -0.02789161
+v -0.03850697 0.07372354 -0.02789161
+v -0.03351432 0.07397479 -0.02295699
+v -0.03351432 0.07397174 -0.02013689
+v -0.03351432 0.07398767 -0.01731678
+v -0.03351432 0.07400892 -0.01383205
+v -0.04156363 0.07980555 -0.00463880
+v -0.03965021 0.08034840 -0.02789158
+v -0.03967427 0.08033701 -0.02789158
+v -0.03351432 0.07417826 -0.02789161
+v -0.04719709 0.07361113 -0.01101422
+v -0.04826963 0.07440895 -0.00463882
+v -0.04317770 0.07809684 -0.02789159
+v -0.04317770 0.07662870 -0.02789160
+v -0.03854457 0.07361113 -0.01109616
+v -0.04147939 0.07361114 -0.01325619
+v -0.04251282 0.07361114 -0.01346104
+v -0.04401407 0.07361114 -0.01303768
+v -0.04710082 0.07361113 -0.01109616
+v -0.04096042 0.07412891 -0.02789161
+v -0.03565488 0.07397481 -0.02789161
+v -0.03351432 0.07406590 -0.02577482
+v -0.04422317 0.07835942 -0.00463880
+v -0.04139665 0.07946326 -0.02789159
+v -0.04241354 0.07519320 -0.02789160
+v -0.04098750 0.07413423 -0.02789161
+v -0.04604031 0.07705753 -0.00463881
+v -0.04557098 0.07743784 -0.00463881
+v -0.04525208 0.07769139 -0.00463880
+f 1 2 5
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+f 1 40 46
+f 1 46 45
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+f 1 44 29
+f 1 29 16
+f 1 16 10
+f 1 10 3
+f 1 3 11
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+f 1 23 22
+f 1 22 21
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+f 1 39 27
+f 1 27 15
+f 1 15 14
+f 1 14 8
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+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
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+f 2 8 9
+f 2 9 5
+f 3 10 11
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+f 5 13 12
+f 8 14 9
+f 9 14 15
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+f 9 38 19
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+f 9 25 13
+f 10 16 28
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+f 10 36 35
+f 10 35 34
+f 10 34 33
+f 10 33 32
+f 10 32 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 12 13 25
+f 12 25 26
+f 12 26 24
+f 16 29 30
+f 16 30 31
+f 16 31 28
+f 17 32 18
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 28
+f 18 28 37
+f 18 32 33
+f 19 38 39
+f 19 39 20
+f 24 26 41
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+f 29 44 30
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+f 30 46 41
+f 40 41 46
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_77.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3786e6cd187402e521b019ffd05f54fe72cd81c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_77.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.04646573 0.07631384 -0.00463998
+v 0.04674812 0.07605928 -0.00463998
+v 0.04938454 0.07276952 -0.01101111
+v 0.04646573 0.07616595 -0.00537348
+v 0.04646573 0.06330744 -0.00464003
+v 0.04743075 0.07534654 -0.00463998
+v 0.05080992 0.07088099 -0.01101112
+v 0.05242357 0.06708940 -0.01664639
+v 0.04908316 0.07242285 -0.01304822
+v 0.04884665 0.07362043 -0.00463999
+v 0.04939877 0.07289314 -0.00463999
+v 0.04646573 0.07302651 -0.01269322
+v 0.04646573 0.06283958 -0.01252517
+v 0.04677106 0.05154956 -0.00537357
+v 0.04677818 0.05154956 -0.00464007
+v 0.05076167 0.07088340 -0.00464000
+v 0.05158669 0.06954760 -0.00464000
+v 0.05167133 0.06944580 -0.01101112
+v 0.05384817 0.06494146 -0.01664640
+v 0.04988603 0.06760578 -0.01664639
+v 0.04703763 0.07265317 -0.01328449
+v 0.04646573 0.07276226 -0.01321279
+v 0.04646573 0.06437417 -0.01404506
+v 0.04680744 0.05888070 -0.01664642
+v 0.04690236 0.05154957 -0.00692991
+v 0.05454663 0.05154956 -0.00464007
+v 0.05253669 0.06749421 -0.00464001
+v 0.05271466 0.06749423 -0.01101113
+v 0.05358239 0.06466505 -0.00464002
+v 0.05392173 0.06443962 -0.01356664
+v 0.05425237 0.06350628 -0.01664641
+v 0.04802954 0.06657060 -0.01664640
+v 0.04646573 0.07090282 -0.01411322
+v 0.04646573 0.06806881 -0.01427074
+v 0.04676789 0.06175108 -0.01664641
+v 0.04682326 0.05881040 -0.01664642
+v 0.04726622 0.05154958 -0.00974872
+v 0.04705740 0.05154957 -0.00819356
+v 0.05450945 0.05313506 -0.00464006
+v 0.05440266 0.05154956 -0.00621639
+v 0.05433147 0.05626245 -0.01664643
+v 0.05442085 0.05887828 -0.01664642
+v 0.05439712 0.06174866 -0.01664641
+v 0.05416695 0.06316444 -0.01244994
+v 0.05421124 0.06336323 -0.01432954
+v 0.05443747 0.05497753 -0.00464006
+v 0.04721085 0.06462146 -0.01664640
+v 0.04646573 0.07033553 -0.01417787
+v 0.04747900 0.05589639 -0.01664643
+v 0.04770128 0.05154958 -0.01099826
+v 0.04758104 0.05554001 -0.01664644
+v 0.05429351 0.05154957 -0.00740716
+v 0.05382681 0.05154957 -0.00881656
+v 0.05257940 0.05407331 -0.01664644
+v 0.05428322 0.06202502 -0.01356665
+v 0.04804695 0.05154958 -0.01195040
+v 0.04846222 0.05416543 -0.01664644
+v 0.05285546 0.05154958 -0.01106291
+v 0.05210638 0.05367814 -0.01664644
+v 0.04839024 0.05154959 -0.01250052
+v 0.05032583 0.05328056 -0.01664644
+v 0.05175913 0.05154959 -0.01271446
+v 0.04862991 0.05154959 -0.01258163
+v 0.04988999 0.05154959 -0.01280497
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 22
+f 1 22 33
+f 1 33 48
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+f 1 34 23
+f 1 23 13
+f 1 13 5
+f 1 5 15
+f 1 15 26
+f 1 26 39
+f 1 39 46
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+f 1 17 16
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+f 1 11 10
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+f 26 40 41
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+f 61 64 63
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_78.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f89bbcdf0bd4691ad0ef807e327fb42badd1e0f9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_78.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.05284659 -0.06657913 -0.02229016
+v 0.05279649 -0.06657913 -0.02114047
+v 0.05247083 -0.06748865 -0.02229017
+v 0.05148216 -0.06932322 -0.02388513
+v 0.04902718 -0.07349311 -0.02792902
+v 0.05212179 -0.06657912 -0.02441145
+v 0.05238064 -0.06758059 -0.02114048
+v 0.04492722 -0.06657913 -0.02114047
+v 0.05156399 -0.06946893 -0.02229018
+v 0.04852784 -0.07475200 -0.02792902
+v 0.04903887 -0.07037417 -0.02792901
+v 0.04825729 -0.06882814 -0.02792900
+v 0.04709828 -0.06770363 -0.02792900
+v 0.04980209 -0.06657912 -0.02529864
+v 0.05121161 -0.06998521 -0.02114049
+v 0.05087259 -0.07090604 -0.02229018
+v 0.04485039 -0.06657913 -0.02137838
+v 0.03578704 -0.07424563 -0.02114050
+v 0.04855122 -0.07478453 -0.02743524
+v 0.04775294 -0.07533901 -0.02792903
+v 0.04685111 -0.06770363 -0.02792900
+v 0.04690957 -0.06657912 -0.02519431
+v 0.04917749 -0.07302917 -0.02114050
+v 0.04929272 -0.07345352 -0.02231013
+v 0.04858295 -0.07481990 -0.02510927
+v 0.04477858 -0.06657913 -0.02229016
+v 0.03578704 -0.07429938 -0.02190607
+v 0.03578704 -0.08102807 -0.02114053
+v 0.04742895 -0.07556957 -0.02792903
+v 0.04489047 -0.06853251 -0.02792900
+v 0.04489047 -0.06853110 -0.02792833
+v 0.04522615 -0.06657912 -0.02429582
+v 0.04853285 -0.07475342 -0.02326311
+v 0.04804019 -0.07420037 -0.02114050
+v 0.04703649 -0.07585106 -0.02510928
+v 0.04729535 -0.07565868 -0.02792903
+v 0.03578704 -0.07459924 -0.02402537
+v 0.03578704 -0.07435172 -0.02257861
+v 0.03578704 -0.07434040 -0.02248890
+v 0.03661371 -0.08087956 -0.02114053
+v 0.03578704 -0.08098281 -0.02210282
+v 0.04346592 -0.06935858 -0.02792900
+v 0.04780471 -0.07455540 -0.02138373
+v 0.03773932 -0.08064192 -0.02114053
+v 0.03753057 -0.08060373 -0.02229022
+v 0.03716483 -0.08048773 -0.02382736
+v 0.03578704 -0.07945939 -0.02792904
+v 0.03578871 -0.07705477 -0.02792903
+v 0.03578704 -0.07693596 -0.02710762
+v 0.03578704 -0.08096867 -0.02229022
+v 0.03578704 -0.08063201 -0.02468332
+v 0.03578704 -0.07937169 -0.02792904
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 22
+f 1 22 32
+f 1 32 26
+f 1 26 17
+f 1 17 8
+f 1 8 2
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_79.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e18dc5833276236d489aff991f655f7b5f6f42
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_79.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.04029805 0.07383978 -0.02864066
+v 0.04029805 0.08010683 -0.02864064
+v 0.04134312 0.07392259 -0.02864066
+v 0.04029805 0.07395015 -0.01578093
+v 0.04079422 0.07988415 -0.02864064
+v 0.04029805 0.08010249 -0.01665081
+v 0.04133184 0.07972951 -0.01578091
+v 0.04191488 0.07437900 -0.02864066
+v 0.04197552 0.07477708 -0.01578093
+v 0.04098836 0.07404462 -0.01578093
+v 0.04064458 0.07399739 -0.01578093
+v 0.04029805 0.08010064 -0.01578091
+v 0.04126814 0.07967127 -0.02864064
+v 0.04337597 0.07835782 -0.01578091
+v 0.04192798 0.07928419 -0.02864064
+v 0.04299774 0.07554518 -0.02864065
+v 0.04231931 0.07508688 -0.01578092
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_8.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c29457ccd08b9693673de0fc272369dfcd74c98b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_8.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_80.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a09a4e58f6f3b522f899dded65a146ce5eeea6f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_80.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_81.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc674debccb9714dc19df6e68589d8534236248
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_81.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+f 6 17 8
+f 6 8 7
+f 8 17 9
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 21
+f 15 27 16
+f 16 27 28
+f 18 29 30
+f 18 30 19
+f 18 25 29
+f 21 31 32
+f 21 26 33
+f 21 33 34
+f 21 34 31
+f 22 35 23
+f 23 35 24
+f 24 35 36
+f 24 36 25
+f 25 36 35
+f 25 35 29
+f 27 37 38
+f 27 38 28
+f 31 39 32
+f 31 34 39
+f 32 39 40
+f 33 41 34
+f 34 41 39
+f 37 42 38
+f 38 42 43
+f 39 44 40
+f 40 44 45
+f 42 45 44
+f 42 44 43
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_82.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b48ff94751d46f6493a2ddb6c487530bdb5afc5f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_82.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.04029865 0.07270358 -0.03074400
+v 0.04646513 0.06343512 -0.03074404
+v 0.04029865 0.07383896 -0.02864066
+v 0.04029865 0.08019678 -0.03074398
+v 0.04646513 0.06458199 -0.03037278
+v 0.04646513 0.07377990 -0.03074400
+v 0.04134310 0.07392100 -0.02864066
+v 0.04029865 0.08010654 -0.02864064
+v 0.04029865 0.08014263 -0.02929769
+v 0.04099052 0.07991457 -0.03074398
+v 0.04646513 0.07032125 -0.03029760
+v 0.04341147 0.07617043 -0.02864065
+v 0.04299792 0.07554368 -0.02864065
+v 0.04191543 0.07437876 -0.02864066
+v 0.04368918 0.07834604 -0.03074398
+v 0.04333359 0.07825416 -0.02864064
+v 0.04646513 0.07343862 -0.03058133
+v 0.04126824 0.07967010 -0.02864064
+v 0.04108048 0.07987356 -0.03074398
+v 0.04646513 0.07328768 -0.03050968
+v 0.04192872 0.07928453 -0.02864064
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 15
+f 1 15 6
+f 1 6 2
+f 2 5 3
+f 2 6 17
+f 2 17 20
+f 2 20 11
+f 2 11 5
+f 3 7 14
+f 3 14 13
+f 3 13 12
+f 3 12 16
+f 3 16 21
+f 3 21 18
+f 3 18 8
+f 3 5 7
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 6 15 16
+f 6 16 17
+f 8 18 10
+f 8 10 9
+f 10 18 19
+f 11 20 16
+f 11 16 12
+f 15 19 21
+f 15 21 16
+f 16 20 17
+f 18 21 19
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_83.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd037ccfb4b0ddfd8e8a903e23a4cf68d442ab9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_83.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.04988574 0.06760456 -0.01664757
+v 0.05242321 0.06709013 -0.01664757
+v 0.05242169 0.06709327 -0.01665089
+v 0.04989030 0.06760456 -0.01665089
+v 0.04989030 0.06699606 -0.02514198
+v 0.04826662 0.06622442 -0.02514199
+v 0.04802924 0.06657100 -0.01664758
+v 0.05384830 0.06494145 -0.01664758
+v 0.05384830 0.06494302 -0.01665090
+v 0.05230299 0.06682981 -0.02514198
+v 0.04746163 0.06462153 -0.02514199
+v 0.04721131 0.06462150 -0.01664758
+v 0.05425232 0.06350481 -0.01664759
+v 0.05343363 0.06464819 -0.02514199
+v 0.05425232 0.06350638 -0.01665091
+v 0.05423710 0.06343895 -0.01856600
+v 0.05384145 0.06448663 -0.01949152
+v 0.05344733 0.06462153 -0.02514199
+v 0.04690697 0.06174982 -0.02514200
+v 0.04680349 0.06174980 -0.01947074
+v 0.04676773 0.06174979 -0.01665091
+v 0.04676773 0.06174979 -0.01664759
+v 0.05439764 0.06174665 -0.01664759
+v 0.05439764 0.06174979 -0.01665091
+v 0.05434666 0.06106442 -0.02228892
+v 0.05429569 0.06069115 -0.02415661
+v 0.05439612 0.05889222 -0.02514201
+v 0.04684838 0.05884517 -0.02514201
+v 0.04684762 0.05887967 -0.02510875
+v 0.04678219 0.05887966 -0.02228892
+v 0.04672360 0.05887965 -0.01947075
+v 0.04675936 0.05600794 -0.01947076
+v 0.04680729 0.05887964 -0.01664760
+v 0.05448590 0.05887965 -0.01947075
+v 0.05442123 0.05887807 -0.01664760
+v 0.05449579 0.05887966 -0.02228892
+v 0.05439764 0.05891417 -0.02510127
+v 0.05437481 0.05600796 -0.02514202
+v 0.04694273 0.05597345 -0.02514202
+v 0.04774696 0.05331504 -0.02514203
+v 0.04765033 0.05331032 -0.01947077
+v 0.04792119 0.05374788 -0.01735528
+v 0.04758033 0.05554055 -0.01664762
+v 0.04747914 0.05589500 -0.01664761
+v 0.05448134 0.05600794 -0.01947076
+v 0.05433144 0.05626358 -0.01664761
+v 0.05436949 0.05593738 -0.02514202
+v 0.04776902 0.05325701 -0.02514203
+v 0.04941857 0.05187368 -0.01947078
+v 0.05130931 0.05169802 -0.01806045
+v 0.05032551 0.05328051 -0.01664762
+v 0.04846217 0.05416508 -0.01664762
+v 0.05430025 0.05431251 -0.01778104
+v 0.05432384 0.05419959 -0.01947077
+v 0.05257918 0.05407254 -0.01664762
+v 0.05424471 0.05433448 -0.02131518
+v 0.05298472 0.05322251 -0.02514203
+v 0.04932270 0.05214032 -0.02514204
+v 0.04989030 0.05195055 -0.02514204
+v 0.05069301 0.05158354 -0.02107071
+v 0.05084366 0.05161332 -0.01947078
+v 0.05131692 0.05169802 -0.01806045
+v 0.05210669 0.05367731 -0.01664762
+v 0.05228168 0.05347656 -0.01698107
+v 0.05297635 0.05276295 -0.01947078
+v 0.05297635 0.05320682 -0.02514203
+v 0.05162658 0.05158354 -0.02107071
+v 0.05154974 0.05161332 -0.01947078
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 22
+f 1 22 33
+f 1 33 44
+f 1 44 43
+f 1 43 52
+f 1 52 51
+f 1 51 63
+f 1 63 55
+f 1 55 46
+f 1 46 35
+f 1 35 23
+f 1 23 13
+f 1 13 8
+f 1 8 2
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+f 2 9 3
+f 3 9 10
+f 3 10 4
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+f 5 10 14
+f 5 14 18
+f 5 18 27
+f 5 27 38
+f 5 38 47
+f 5 47 57
+f 5 57 66
+f 5 66 59
+f 5 59 58
+f 5 58 48
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+f 5 40 39
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+f 5 28 19
+f 5 19 11
+f 5 11 6
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+f 8 13 15
+f 8 15 9
+f 9 14 10
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+f 9 17 18
+f 9 18 14
+f 11 19 12
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+f 13 23 24
+f 13 24 15
+f 15 24 16
+f 16 18 17
+f 16 24 25
+f 16 25 26
+f 16 26 18
+f 18 26 27
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 21
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 23 34 24
+f 23 35 34
+f 24 34 36
+f 24 36 25
+f 25 37 26
+f 25 36 37
+f 26 37 27
+f 27 37 36
+f 27 36 38
+f 28 39 32
+f 28 32 30
+f 28 30 29
+f 30 32 31
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 33
+f 34 35 45
+f 34 45 36
+f 35 46 45
+f 36 45 38
+f 38 45 47
+f 40 48 41
+f 41 48 49
+f 41 49 42
+f 42 49 50
+f 42 50 51
+f 42 51 52
+f 42 52 43
+f 45 46 53
+f 45 53 54
+f 45 54 47
+f 46 55 53
+f 47 54 56
+f 47 56 57
+f 48 58 49
+f 49 58 59
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 50 61 68
+f 50 68 62
+f 50 62 51
+f 51 62 63
+f 53 55 63
+f 53 63 64
+f 53 64 62
+f 53 62 65
+f 53 65 54
+f 54 65 66
+f 54 66 56
+f 56 66 57
+f 59 66 67
+f 59 67 60
+f 60 67 68
+f 60 68 61
+f 62 68 65
+f 62 64 63
+f 65 68 67
+f 65 67 66
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_84.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f611dfb46ae41477ae8d8e9065da0a368de9f047
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_84.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.04675739 -0.00002428 -0.02510922
+v 0.04681383 -0.00002429 -0.02120634
+v 0.04678332 -0.00002428 -0.02572184
+v 0.04678332 -0.00033077 -0.02572184
+v 0.04675968 -0.00143346 -0.02510923
+v 0.04680620 -0.00143347 -0.02120635
+v 0.05444061 -0.00002429 -0.02120634
+v 0.05452832 -0.00002428 -0.02572184
+v 0.04678561 -0.00143346 -0.02572185
+v 0.04679324 -0.00205741 -0.02572185
+v 0.04709602 -0.00492812 -0.02572186
+v 0.04733703 -0.00318966 -0.02120635
+v 0.05454662 -0.00002428 -0.02510922
+v 0.05444671 -0.00143347 -0.02120635
+v 0.05454815 -0.00143346 -0.02510923
+v 0.05452908 -0.00080950 -0.02572184
+v 0.04791590 -0.00746701 -0.02572187
+v 0.04767184 -0.00416233 -0.02120636
+v 0.05441239 -0.00209542 -0.02120635
+v 0.05439714 -0.00422142 -0.02572186
+v 0.05452908 -0.00148580 -0.02572185
+v 0.05434985 -0.00326819 -0.02120635
+v 0.05439332 -0.00426279 -0.02515433
+v 0.04809284 -0.00775661 -0.02572187
+v 0.04894323 -0.00834848 -0.02572187
+v 0.04989047 -0.00525488 -0.02120636
+v 0.05432316 -0.00533508 -0.02572186
+v 0.05338430 -0.00420623 -0.02120636
+v 0.05234477 -0.00801075 -0.02572187
+v 0.05303195 -0.00725508 -0.02572187
+v 0.05359785 -0.00651545 -0.02572186
+v 0.04989047 -0.00864991 -0.02572187
+v 0.05277111 -0.00461151 -0.02120636
+f 1 2 7
+f 1 7 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 18
+f 2 18 26
+f 2 26 33
+f 2 33 28
+f 2 28 22
+f 2 22 19
+f 2 19 14
+f 2 14 7
+f 3 8 16
+f 3 16 21
+f 3 21 20
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+f 3 30 29
+f 3 29 32
+f 3 32 25
+f 3 25 24
+f 3 24 17
+f 3 17 11
+f 3 11 10
+f 3 10 9
+f 3 9 4
+f 4 9 5
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+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 14 13
+f 8 13 15
+f 8 15 16
+f 11 17 12
+f 12 17 18
+f 13 14 15
+f 14 19 15
+f 15 20 21
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+f 15 19 22
+f 15 22 23
+f 15 23 20
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 20 23 27
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 27
+f 22 27 23
+f 25 32 26
+f 26 32 33
+f 28 33 29
+f 29 33 32
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_85.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a591cba5072af501778f20b9de983ac0f1e48a1c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_85.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.05482383 0.01293117 -0.03179346
+v -0.05476496 0.01005868 -0.03179347
+v -0.05469546 0.02728921 -0.02482173
+v -0.05481075 0.04632223 -0.03179334
+v -0.05459652 0.00749317 -0.03179348
+v -0.05440927 0.00749315 -0.02820732
+v -0.05450003 0.02154423 -0.02482175
+v -0.05464640 0.03302980 -0.02482171
+v -0.05467011 0.03302980 -0.02510969
+v -0.05480830 0.04738790 -0.03179334
+v -0.04662172 0.00749317 -0.03179348
+v -0.05379847 0.00749315 -0.02697213
+v -0.05439046 0.01954883 -0.02482176
+v -0.05463658 0.03341573 -0.02482171
+v -0.05441254 0.05229524 -0.02820443
+v -0.05467420 0.04959380 -0.03179333
+v -0.04658820 0.00849306 -0.03179348
+v -0.04681306 0.02154423 -0.02482175
+v -0.04714586 0.00749315 -0.02823326
+v -0.05322527 0.00749315 -0.02635248
+v -0.05246565 0.00749314 -0.02559226
+v -0.04995539 0.00749314 -0.02496579
+v -0.05300450 0.01796129 -0.02482176
+v -0.05454092 0.03621805 -0.02482170
+v -0.05406993 0.05229524 -0.02713643
+v -0.05442644 0.05229525 -0.02891962
+v -0.05434876 0.03890197 -0.02482169
+v -0.05460306 0.05054545 -0.03179332
+v -0.04650316 0.01293117 -0.03179346
+v -0.04676890 0.02441672 -0.02482174
+v -0.04689647 0.02122847 -0.02482175
+v -0.04988507 0.00749314 -0.02498012
+v -0.04818103 0.00749314 -0.02565914
+v -0.04802813 0.00749314 -0.02579904
+v -0.04725543 0.00749315 -0.02792002
+v -0.04765281 0.01850509 -0.02482176
+v -0.04995539 0.01684299 -0.02482177
+v -0.05105598 0.01702280 -0.02482177
+v -0.05386797 0.05229524 -0.02670446
+v -0.05440519 0.05229525 -0.03070144
+v -0.05414434 0.03999395 -0.02482168
+v -0.05305765 0.05229523 -0.02575042
+v -0.05434958 0.05229525 -0.03112386
+v -0.05430134 0.05229526 -0.03148145
+v -0.05425637 0.05229526 -0.03179332
+v -0.04647127 0.01579928 -0.03179345
+v -0.04674519 0.02728921 -0.02482173
+v -0.05311489 0.04139730 -0.02482168
+v -0.04995539 0.05229523 -0.02482437
+v -0.05034706 0.05229523 -0.02487692
+v -0.05268316 0.05229523 -0.02552113
+v -0.04665443 0.05229526 -0.03179332
+v -0.04652442 0.04738790 -0.03179334
+v -0.04679671 0.03273598 -0.02482171
+v -0.05295135 0.04160781 -0.02482168
+v -0.05273058 0.04184901 -0.02482168
+v -0.05089572 0.04274365 -0.02482167
+v -0.04995539 0.04280066 -0.02482167
+v -0.04803549 0.04172621 -0.02482168
+v -0.04795045 0.04150256 -0.02482168
+v -0.04722926 0.03877040 -0.02482169
+v -0.04802486 0.05229523 -0.02569788
+v -0.04720309 0.05229524 -0.02789939
+v -0.04689401 0.03560847 -0.02482170
+v -0.04659392 0.05026039 -0.03179333
+v -0.04691281 0.03590230 -0.02482170
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 28
+f 1 28 45
+f 1 45 52
+f 1 52 65
+f 1 65 53
+f 1 53 46
+f 1 46 29
+f 1 29 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 13
+f 3 13 23
+f 3 23 38
+f 3 38 37
+f 3 37 36
+f 3 36 31
+f 3 31 18
+f 3 18 30
+f 3 30 47
+f 3 47 54
+f 3 54 64
+f 3 64 66
+f 3 66 61
+f 3 61 60
+f 3 60 59
+f 3 59 58
+f 3 58 57
+f 3 57 56
+f 3 56 55
+f 3 55 48
+f 3 48 41
+f 3 41 27
+f 3 27 24
+f 3 24 14
+f 3 14 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 19
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+f 5 32 22
+f 5 22 21
+f 5 21 20
+f 5 20 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 19
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 14 24 15
+f 15 25 39
+f 15 39 42
+f 15 42 51
+f 15 51 50
+f 15 50 49
+f 15 49 62
+f 15 62 63
+f 15 63 52
+f 15 52 45
+f 15 45 44
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+f 15 43 40
+f 15 40 26
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+f 16 26 28
+f 17 29 18
+f 18 31 32
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+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 18 29 30
+f 22 32 31
+f 22 31 36
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 25 27 39
+f 26 40 28
+f 27 41 42
+f 27 42 39
+f 28 40 43
+f 28 43 44
+f 28 44 45
+f 29 46 30
+f 30 46 47
+f 41 48 49
+f 41 49 50
+f 41 50 51
+f 41 51 42
+f 46 53 47
+f 47 53 54
+f 48 55 49
+f 49 56 57
+f 49 57 58
+f 49 58 59
+f 49 59 60
+f 49 60 61
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+f 49 55 56
+f 52 63 64
+f 52 64 54
+f 52 54 65
+f 53 65 54
+f 61 66 62
+f 62 66 63
+f 63 66 64
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_86.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b00f23a72509c36054df6593b17c3ef122d0a27f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_86.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02953871 0.07240533 0.03047427
+v 0.04305260 0.06610014 0.03047424
+v 0.02953871 0.08075445 0.03047430
+v 0.02953871 0.07458451 0.01806460
+v 0.04305260 0.06965201 0.01806459
+v 0.04305260 0.07720103 0.03047428
+v 0.02982973 0.08075286 0.03047430
+v 0.02953871 0.08103917 0.02880891
+v 0.02953871 0.08234829 0.01806463
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+v 0.02992101 0.08075127 0.03047430
+v 0.02992101 0.08109485 0.02845907
+v 0.02953871 0.08109803 0.02845907
+v 0.02953871 0.08145593 0.02563968
+v 0.02992101 0.08145434 0.02563968
+v 0.02992101 0.08234510 0.01806463
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+v 0.03277432 0.08097238 0.02845907
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+v 0.03188142 0.08227353 0.01806463
+v 0.04133161 0.07956947 0.02282150
+v 0.04133161 0.07916704 0.02563967
+v 0.04305260 0.07826198 0.02563967
+v 0.04041093 0.08062883 0.01806463
+v 0.03988445 0.08041091 0.02136384
+v 0.04133161 0.07865962 0.02845906
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+v 0.04305260 0.07775934 0.02845906
+v 0.03358918 0.08055404 0.03047430
+v 0.03462759 0.08049996 0.03022042
+v 0.03562763 0.08191087 0.01806463
+v 0.03473341 0.08201585 0.01806463
+v 0.03562763 0.08097875 0.02563968
+v 0.03958417 0.08031865 0.02282151
+v 0.03899023 0.08012777 0.02563967
+v 0.03855635 0.08123486 0.01806463
+v 0.03827591 0.07993371 0.02834001
+v 0.03929183 0.07904454 0.03047429
+v 0.03437625 0.08046814 0.03047430
+v 0.03487627 0.08038543 0.03047430
+v 0.03593850 0.08014843 0.03047429
+v 0.03652847 0.08031226 0.02920005
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+v 0.03758540 0.08146390 0.01806463
+v 0.03718988 0.08045861 0.02732087
+v 0.03756291 0.08056837 0.02563968
+v 0.03842274 0.07939925 0.03047429
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 36
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+f 1 47 56
+f 1 56 50
+f 1 50 49
+f 1 49 48
+f 1 48 38
+f 1 38 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
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+f 1 27 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
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+f 21 36 23
+f 22 37 35
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+f 25 40 41
+f 25 41 28
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+f 30 34 31
+f 31 34 43
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+f 31 35 37
+f 31 37 32
+f 33 45 34
+f 34 45 43
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+f 35 46 47
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+f 39 48 49
+f 39 49 50
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+f 40 42 54
+f 40 54 53
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+f 45 53 54
+f 45 54 55
+f 46 56 47
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+f 46 51 56
+f 50 56 51
+f 51 54 52
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_87.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e76de240fdb889dc534ee28daa6f88089dcf04c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_87.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.04727250 -0.04183931 -0.02948992
+v -0.04740849 -0.04481082 -0.02948993
+v -0.05394921 -0.04183931 -0.02948992
+v -0.04729984 -0.04183935 -0.01947102
+v -0.04770850 -0.04481082 -0.02881130
+v -0.05421778 -0.04481082 -0.02948993
+v -0.04810282 -0.04343622 -0.01947103
+v -0.05425263 -0.04291785 -0.02948993
+v -0.05413782 -0.04183934 -0.02229028
+v -0.04734836 -0.04183935 -0.01926576
+v -0.04836660 -0.04320382 -0.01785405
+v -0.04778026 -0.04481082 -0.02864932
+v -0.05424990 -0.04318952 -0.02948993
+v -0.05420480 -0.04481082 -0.02944105
+v -0.05389864 -0.04262615 -0.01947103
+v -0.05416995 -0.04183935 -0.01947102
+v -0.04995549 -0.04396298 -0.01947103
+v -0.04796750 -0.04183936 -0.01698690
+v -0.04995549 -0.04334577 -0.01762644
+v -0.04946823 -0.04183936 -0.01522608
+v -0.04995549 -0.04205984 -0.01522608
+v -0.04800987 -0.04481083 -0.02855436
+v -0.05281000 -0.04481083 -0.02853481
+v -0.05247241 -0.04360289 -0.01947103
+v -0.05189221 -0.04330883 -0.01768928
+v -0.05314691 -0.04183936 -0.01729828
+v -0.04995549 -0.04481083 -0.02783663
+v -0.05078990 -0.04183936 -0.01522608
+v -0.05280863 -0.04183936 -0.01683190
+f 1 2 6
+f 1 6 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 26
+f 1 26 29
+f 1 29 28
+f 1 28 20
+f 1 20 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 5 12
+f 2 12 22
+f 2 22 27
+f 2 27 23
+f 2 23 14
+f 2 14 6
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+f 2 7 5
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+f 6 15 16
+f 6 16 13
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+f 7 17 12
+f 8 16 9
+f 8 13 16
+f 10 18 11
+f 11 19 17
+f 11 18 20
+f 11 20 21
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+f 12 17 22
+f 14 23 17
+f 14 17 24
+f 14 24 15
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+f 15 26 16
+f 17 19 25
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+f 17 23 27
+f 17 27 22
+f 19 21 25
+f 20 28 21
+f 21 28 25
+f 25 28 29
+f 25 29 26
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_88.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c81f2181cc0cb79b17803a9adde6ccd255ba6a80
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_88.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.02953871 0.06149215 0.03808937
+v 0.04305260 0.06017246 0.03360943
+v 0.03275845 0.06017244 0.03808861
+v 0.03278623 0.06017244 0.03808936
+v 0.02953871 0.07764295 0.03808943
+v 0.02953871 0.07240445 0.03047502
+v 0.04305260 0.06017244 0.03808936
+v 0.04305260 0.06610008 0.03047499
+v 0.02992101 0.07763892 0.03808943
+v 0.02992101 0.07837433 0.03687813
+v 0.02953871 0.07826150 0.03707045
+v 0.02953871 0.08075588 0.03047505
+v 0.04305260 0.07283559 0.03808941
+v 0.04305260 0.07720173 0.03047503
+v 0.03028346 0.07761474 0.03808943
+v 0.03277432 0.07828367 0.03672309
+v 0.02953871 0.07837634 0.03688111
+v 0.02992101 0.07974845 0.03409849
+v 0.02953871 0.07975248 0.03409849
+v 0.02953871 0.08066320 0.03101249
+v 0.02992101 0.08066118 0.03100280
+v 0.02992101 0.08075185 0.03047505
+v 0.04305260 0.07363749 0.03723069
+v 0.04198376 0.07414925 0.03767272
+v 0.04176682 0.07389740 0.03808941
+v 0.04288195 0.07732464 0.03047503
+v 0.04305260 0.07677659 0.03158867
+v 0.03277432 0.07743744 0.03808942
+v 0.03284311 0.07742535 0.03808942
+v 0.03562763 0.07802175 0.03629597
+v 0.03277432 0.07957517 0.03409849
+v 0.02992101 0.08035492 0.03241312
+v 0.02953871 0.08035693 0.03242207
+v 0.02953871 0.08062290 0.03120182
+v 0.03277432 0.08059671 0.03067333
+v 0.03277432 0.08063096 0.03047505
+v 0.04305260 0.07480408 0.03583006
+v 0.04301291 0.07486654 0.03579280
+v 0.04115171 0.07530979 0.03680656
+v 0.04031701 0.07489675 0.03808942
+v 0.04265311 0.07748784 0.03047503
+v 0.04225229 0.07725612 0.03184211
+v 0.04305260 0.07567448 0.03410817
+v 0.03306798 0.07738103 0.03808942
+v 0.03562763 0.07908154 0.03409849
+v 0.03562763 0.07712111 0.03770553
+v 0.03754307 0.07773967 0.03583381
+v 0.03277432 0.08027231 0.03208289
+v 0.03358918 0.08055440 0.03047505
+v 0.04305260 0.07489676 0.03567950
+v 0.04131309 0.07679472 0.03413724
+v 0.03944528 0.07734678 0.03510180
+v 0.03848756 0.07666576 0.03683116
+v 0.03848227 0.07573088 0.03808942
+v 0.04210281 0.07778200 0.03047504
+v 0.04131309 0.07801572 0.03105273
+v 0.04035008 0.07777998 0.03322263
+v 0.03562763 0.07680075 0.03808942
+v 0.03848756 0.07816278 0.03413725
+v 0.03847830 0.07919842 0.03127934
+v 0.03559853 0.08005270 0.03120852
+v 0.03487627 0.08038515 0.03047505
+v 0.03437625 0.08046776 0.03047505
+v 0.04131706 0.07815877 0.03047504
+v 0.03842274 0.07939990 0.03047504
+v 0.03593850 0.08014740 0.03047504
+v 0.03929183 0.07904328 0.03047504
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 25
+f 1 25 40
+f 1 40 54
+f 1 54 58
+f 1 58 44
+f 1 44 29
+f 1 29 28
+f 1 28 15
+f 1 15 9
+f 1 9 5
+f 1 5 11
+f 1 11 17
+f 1 17 19
+f 1 19 33
+f 1 33 34
+f 1 34 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 7 4
+f 2 4 3
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+f 2 27 43
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+f 5 9 10
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+f 6 12 22
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+f 20 34 21
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+f 21 36 22
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+f 39 52 40
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+f 41 55 56
+f 41 56 42
+f 42 51 43
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+f 42 57 51
+f 43 51 50
+f 44 58 46
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+f 45 59 60
+f 45 60 61
+f 45 61 48
+f 46 58 54
+f 46 54 53
+f 46 53 47
+f 47 52 59
+f 47 53 52
+f 48 61 62
+f 48 62 63
+f 48 63 49
+f 51 57 52
+f 52 57 59
+f 55 64 56
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+f 56 60 57
+f 57 60 59
+f 60 65 66
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+f 60 67 65
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+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_89.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6d8c9ed94e5edec56307e1677b067751780a50d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_89.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.04758569 -0.05384681 -0.02572204
+v 0.04759006 -0.05384681 -0.02521181
+v 0.04762437 -0.05322922 -0.02572204
+v 0.05395867 -0.05384681 -0.02572204
+v 0.04800864 -0.05384681 -0.02412884
+v 0.04776972 -0.05325141 -0.02524000
+v 0.04797184 -0.05232840 -0.02572203
+v 0.05326311 -0.05280993 -0.02572203
+v 0.05328494 -0.05384681 -0.02478450
+v 0.04865118 -0.05384681 -0.02366955
+v 0.04989009 -0.05138272 -0.02572203
+v 0.05293311 -0.05239861 -0.02572203
+v 0.05292063 -0.05384681 -0.02428186
+v 0.04989009 -0.05384681 -0.02330240
+v 0.05139787 -0.05158657 -0.02572203
+v 0.05243030 -0.05201913 -0.02572203
+v 0.05231178 -0.05384681 -0.02386710
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 7
+f 5 7 6
+f 7 10 11
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 13 16 17
+f 14 17 15
+f 15 17 16
+
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_9.obj b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21c56afb4146828fbdafaa71cc1a724d28f986b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/mesh/soap_dish_035_collision_9.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.03569004 0.00002759 0.04609734
+v -0.03424110 0.00002759 0.04590743
+v -0.03709317 0.00002759 0.04603826
+v -0.03854350 -0.01004944 0.04597773
+v -0.03569004 -0.01292491 0.04609729
+v -0.02810116 -0.06174340 0.04591845
+v -0.03283935 0.00002759 0.04572173
+v -0.03854350 0.00002759 0.04597636
+v -0.03994525 0.00002759 0.04569219
+v -0.04139558 -0.01292491 0.04539953
+v -0.03854350 -0.01579393 0.04597771
+v -0.03569004 -0.01579393 0.04609588
+v -0.03569004 -0.03589642 0.04606486
+v -0.03569004 -0.03876544 0.04605219
+v -0.03569004 -0.04163447 0.04602967
+v -0.02998727 -0.06174340 0.04590298
+v -0.02810116 -0.06461243 0.04566241
+v -0.02810116 0.00002760 0.04487767
+v -0.03569004 -0.01866940 0.04609305
+v -0.03569004 -0.02441389 0.04608459
+v -0.03569004 -0.02728291 0.04608036
+v -0.03569004 -0.03302096 0.04607050
+v -0.04139558 0.00002759 0.04539677
+v -0.04227965 0.00002759 0.04508165
+v -0.04227965 -0.01004944 0.04508302
+v -0.04227965 -0.01391779 0.04508160
+v -0.04139558 -0.01579393 0.04539812
+v -0.03854350 -0.01866940 0.04597489
+v -0.03854350 -0.03589642 0.04594810
+v -0.03854350 -0.03876544 0.04593824
+v -0.03854350 -0.04163447 0.04591994
+v -0.03854350 -0.04450994 0.04590024
+v -0.03854350 -0.04737896 0.04587912
+v -0.03854350 -0.05025443 0.04585520
+v -0.03569004 -0.04450994 0.04600433
+v -0.03569004 -0.05599891 0.04590300
+v -0.03569004 -0.05886794 0.04585516
+v -0.03283935 -0.06174340 0.04585093
+v -0.02998727 -0.06461243 0.04563709
+v -0.02998727 -0.06583740 0.04536839
+v -0.02834681 -0.06583740 0.04538949
+v -0.02810116 -0.06583740 0.04539231
+v -0.02810116 0.00002762 0.03926603
+v -0.03854350 -0.03015838 0.04595796
+v -0.03854350 -0.03302096 0.04595373
+v -0.04227965 0.00002763 0.03503866
+v -0.04227965 -0.01678681 0.04508018
+v -0.04227965 -0.01866940 0.04507877
+v -0.04227965 -0.02540677 0.04507312
+v -0.04139558 -0.01866940 0.04539529
+v -0.04139558 -0.02441389 0.04538964
+v -0.04139558 -0.03302096 0.04537977
+v -0.04139558 -0.03589642 0.04537554
+v -0.04139558 -0.03876544 0.04536849
+v -0.04139558 -0.04163447 0.04535723
+v -0.04139558 -0.04450994 0.04534456
+v -0.04139558 -0.04737896 0.04533048
+v -0.04139558 -0.05025443 0.04531359
+v -0.04139558 -0.05312344 0.04527699
+v -0.03854350 -0.05312344 0.04581579
+v -0.03854350 -0.05599891 0.04573700
+v -0.03854350 -0.05886794 0.04559068
+v -0.03569004 -0.06174340 0.04569899
+v -0.03283935 -0.06461243 0.04554002
+v -0.03283935 -0.06583740 0.04525726
+v -0.02810116 -0.06583737 0.03676313
+v -0.04227965 -0.06583735 0.03172686
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diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/soap_dish_035.xml b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/soap_dish_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a42ee83ce5640a6249ef8f6b655607beba0fae2f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/mjcf/soap_dish_035.xml
@@ -0,0 +1,194 @@
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+      <geom type="mesh" mesh="collision_mesh_0_89" 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/be92dafc86355dceb72db63b1349ddc0/soap_dish_035.urdf b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/soap_dish_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ca5e7bd180c5057d66ef91e60b0eca85c69bd558
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/soap_dish_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_035">
+   <link name="soap_dish_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>be92dafc86355dceb72db63b1349ddc0</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>plastic</material>
+         <description>translucent blue rectangular soap dish with ornate openwork base</description>
+         <min_height>0.0941</min_height>
+         <max_height>0.0941</max_height>
+         <real_height>0.0941</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170405</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060033 -0.086925 -0.048218</min>
+            <max>0.059967 0.086931 0.045866</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/be92dafc86355dceb72db63b1349ddc0/soap_dish_035.usd b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/soap_dish_035.usd
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+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/soap_dish_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f80b71fd18f9cb10100c73ec1a06ed8053bf2c38fc57db92d793d6b5ecd706
+size 5039731
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/textures/material_0.png b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/textures/material_0.png
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+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11178291
diff --git a/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/video.mp4 b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/video.mp4
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+++ b/dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3ef163eb69c1fdc33d1a9731e0b7503b921cca3b7c446b05370eb3797cfe4b
+size 551881