diff --git a/.gitattributes b/.gitattributes
index e9be4c4b9218124e7cbfef081ae4751ca68ad8b1..48e241f1f1ccae92e13a373fa905645f15862d35 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2313,3 +2313,5 @@ dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/facial_
 dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/soap_dish_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38d0b68e2512ab07156cac5e0d68d563f4d262b6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_011_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011.glb b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011.glb
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011.mtl b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..563779b4f4a6c0f0eb556242cc41608c19a048d5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011.mtl
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+newmtl soap_dish_011_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef029840319776ba43f388ea0c789423e3369b0d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011_collision.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81205c16868222d296441339acee73df3382b495
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mesh/soap_dish_011_collision.obj
@@ -0,0 +1,13276 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c911dee742b83bc48840844c00e0a5e088a041b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision.obj
@@ -0,0 +1,13276 @@
+# https://github.com/mikedh/trimesh
+
+o soap_dish_011_collision.obj
+v 0.00898866 -0.02884017 -0.01632735
+v 0.00898866 -0.02867736 -0.01706160
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_0.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b1176d90174cc106c3a2c70405235bd712d01a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_1.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f98d7c55d94023d68e2c10fb7ed981d97d9e56fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_10.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853a054dfa7bc4fab52ddb1ec088ede831ea8d4a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_10.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_11.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5a9b9e2278d2e954028b746f45e80db43c42c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_11.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_12.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c6152fb498dd3d59351f5f2e12d6e62e4b50cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_12.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_13.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c82d6351bd88262548954e63cf938705035d598
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_13.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_14.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43b16cfc3c6f2c7af47c3be230d7d449d1ddb21c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_14.obj
@@ -0,0 +1,208 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_15.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6eb8764eced70958027da5521d625b58e2c17a2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_15.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.00346253 -0.02284359 -0.00342528
+v 0.00422232 -0.02284359 -0.00336352
+v 0.00241007 -0.02284359 -0.00223796
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_16.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ac3c145db8557f6ff498bd1d015c65ed214cbf1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_16.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04613564 -0.00012201 -0.00805893
+v 0.04326566 -0.00012201 -0.00805893
+v 0.04615433 -0.00036585 -0.00805893
+v 0.04606836 -0.00012201 -0.00833773
+v 0.04110851 -0.00012198 -0.01619567
+v 0.04323309 -0.00066022 -0.00805893
+v 0.04617675 -0.00066022 -0.00805893
+v 0.04609292 -0.00066022 -0.00840543
+v 0.04589803 -0.00066022 -0.00920596
+v 0.04414347 -0.00012198 -0.01619567
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+v 0.04074756 -0.02256433 -0.01619575
+v 0.04323683 -0.01704603 -0.00805899
+v 0.04620238 -0.01022062 -0.00805897
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+v 0.04592686 -0.01022062 -0.00920600
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_17.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf2e3afe8268bfc97f27d32fb2f603f847805b1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_17.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00491165 0.00932401 -0.00378773
+v 0.00898866 0.00932407 -0.01804437
+v 0.00233763 0.00932401 -0.00378773
+v 0.00502202 0.00753526 -0.00378773
+v 0.00898866 0.00932408 -0.02213209
+v 0.00503633 0.00616780 -0.00378774
+v 0.00898866 0.00713755 -0.01804257
+v 0.00567745 0.00932407 -0.01874965
+v 0.00214481 0.00753055 -0.00378773
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+v 0.00846540 -0.01472059 -0.02206920
+v 0.00898866 -0.00066002 -0.01806599
+v 0.00898866 0.00616786 -0.01804438
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_18.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a1f6a5fe4df4c1bf45ee9af049fc4da925a6c3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_18.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.04426607 0.02311425 -0.00871301
+v 0.04269587 0.02311425 -0.00871301
+v 0.04473844 0.02311197 -0.00871301
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_19.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5366f82c3368f734147b7a2bc30a7e193118848f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_19.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_2.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec0387a1d68c1f379b51f8b65e1dbff785a00f83
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_2.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_20.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cba2b6ac74eb671d757aa82c059d9b89ef30bb0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_20.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_21.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a69ed265577895b09bb9c1271321039e364639
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_21.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_22.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3be6a06a7ff8bf9481cccf66c6ff0c98fe40b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_22.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_23.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccf1bf666ff061bea487c3c33a917eadd3ab0d70
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_23.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00898885 0.02649984 -0.00943152
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_24.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e935149debf46bfb8e24d63deaea16fffb2c25
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_25.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6908d786221fa24cb5a6a0b73ccc9164cf53eb93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_25.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_26.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e81a91e9588ad733283342a84ef03c1838c1ceb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_26.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_27.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef7eecec1acc00d4242392c5b91f23a6caf01b90
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_27.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_28.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44ebdb4a99abe67cd43de2bca8f946fde5908002
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_28.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00898866 0.02795809 -0.00370495
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_29.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6faadf36aac1266215ac5b9106c588c3eb7569
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_29.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01367450 -0.03491098 0.00579251
+v 0.01276540 -0.03486066 0.00579251
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_3.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d13df8c2db7c764ed1d74a9f92424cc4e008010
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_3.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.03865509 0.02311429 -0.01929881
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_30.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6a5c7d6fd23353daf3175712aeca17877723f48
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_30.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00898866 -0.01472060 -0.01825634
+v 0.00898866 -0.01971140 -0.01827442
+v 0.00898866 -0.01472059 -0.02216757
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+v 0.00534049 -0.01907727 -0.00682664
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_31.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd72c02ffaafbe5adc798abbabeb43a172300299
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_31.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00261451 -0.01472010 -0.00378781
+v 0.00421331 -0.01472010 -0.00378781
+v 0.00248987 -0.01472010 -0.00365277
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_32.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..122d2d8d146eeb69e2e8f379bd580aad873d9587
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_32.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00363475 0.00932404 -0.00899106
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_33.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451372901aadf67db76641052b8cc23ab57895ba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_33.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_34.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e30f26b3004564bfce84eab9ea5f4bf1c65683
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_34.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_35.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..549edf7e474fb60bdae7b1e1420faf3d934dd016
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_35.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_36.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e44b9616ea396bda5f46ddb9385673f7a71567
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_36.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_37.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad68b2ed865c386bca2faa94abc6ff71821bde84
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_37.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_38.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4212f450c977ab7a864cfedda70252ee4bd5c564
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_38.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_39.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9345689b91127aa1b390eedeec13730f4cfa472a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_39.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_4.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2610ea2ccc35a96db0cc9f1bdf55191703c629d9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_4.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 30 32 42
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 31 45 34
+f 31 34 46
+f 33 46 34
+f 34 45 47
+f 34 47 35
+f 35 47 36
+f 36 47 48
+f 37 38 39
+f 38 49 50
+f 38 50 39
+f 39 50 53
+f 39 53 40
+f 40 51 52
+f 40 52 41
+f 40 53 54
+f 40 54 51
+f 42 55 43
+f 43 55 56
+f 43 56 57
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+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 44 61 47
+f 44 47 45
+f 47 61 62
+f 47 62 48
+f 49 63 50
+f 50 63 64
+f 50 64 65
+f 50 65 53
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+f 53 66 54
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+f 60 64 61
+f 61 64 63
+f 61 63 62
+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_40.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c72d240a5015788edf7d893248dd59629a91a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_40.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.02107038 0.03124574 -0.00252080
+v 0.02077084 0.03173219 -0.00252079
+v 0.02107038 0.03038127 -0.00252080
+v 0.02107038 0.03120048 -0.00253362
+v 0.02088605 0.02792571 -0.01561825
+v 0.02079925 0.02918112 -0.01561824
+v 0.01957805 0.03202117 -0.00252079
+v 0.02048128 0.02941539 -0.01561824
+v 0.01957267 0.02979987 -0.01561824
+v 0.01912029 0.03013262 -0.01434388
+v 0.02107038 0.03075282 -0.00265285
+v 0.02079081 0.02985056 -0.00252080
+v 0.02071861 0.02775062 -0.01561825
+v 0.01905730 0.03149544 -0.00616310
+v 0.01821091 0.03216342 -0.00252079
+v 0.01887835 0.02990980 -0.01561824
+v 0.01821091 0.02998838 -0.01561824
+v 0.01821091 0.03038131 -0.01329516
+v 0.01821091 0.03061060 -0.01193234
+v 0.01821091 0.03083940 -0.01056824
+v 0.02068405 0.02978838 -0.00252080
+v 0.02019172 0.02736316 -0.01537209
+v 0.01995209 0.02725075 -0.01561825
+v 0.01821091 0.03102790 -0.00943106
+v 0.01821091 0.03106521 -0.00920542
+v 0.01821091 0.03128953 -0.00784260
+v 0.01685068 0.03142084 -0.00707079
+v 0.01685068 0.03173916 -0.00511567
+v 0.01685068 0.03195999 -0.00375156
+v 0.01685068 0.03215745 -0.00252079
+v 0.01685068 0.02994611 -0.01561824
+v 0.01685068 0.03015550 -0.01446055
+v 0.01685068 0.03036291 -0.01329516
+v 0.01685068 0.03060214 -0.01193234
+v 0.01685068 0.03083691 -0.01056824
+v 0.01685068 0.03106719 -0.00920542
+v 0.01685068 0.03129351 -0.00784260
+v 0.01957190 0.02949890 -0.00252080
+v 0.01954809 0.02716768 -0.01561825
+v 0.01943903 0.02946607 -0.00252080
+v 0.01562256 0.03212910 -0.00252079
+v 0.01546050 0.02934227 -0.01561824
+v 0.01608493 0.03011571 -0.01422978
+v 0.01548969 0.03190776 -0.00375156
+v 0.01548969 0.03212413 -0.00252079
+v 0.01821091 0.02708263 -0.01561825
+v 0.01821091 0.02931586 -0.00252080
+v 0.01512332 0.02802220 -0.01561825
+v 0.01322392 0.03129548 -0.00252080
+v 0.01405649 0.03183763 -0.00252079
+v 0.01485374 0.03142182 -0.00576438
+v 0.01409182 0.03184609 -0.00252079
+v 0.01730998 0.02709158 -0.01561825
+v 0.01685068 0.02930094 -0.00252080
+v 0.01548969 0.02931139 -0.00252080
+v 0.01322392 0.03075282 -0.00280157
+v 0.01322392 0.03114228 -0.00261824
+v 0.01559107 0.02736863 -0.01561825
+v 0.01322392 0.03033054 -0.00252080
+v 0.01685068 0.02709954 -0.01561825
+v 0.01402193 0.02964215 -0.00252080
+v 0.01579307 0.02720200 -0.01561825
+v 0.01604038 0.02717614 -0.01561825
+f 1 2 7
+f 1 7 15
+f 1 15 30
+f 1 30 41
+f 1 41 45
+f 1 45 52
+f 1 52 50
+f 1 50 49
+f 1 49 59
+f 1 59 61
+f 1 61 55
+f 1 55 54
+f 1 54 47
+f 1 47 40
+f 1 40 38
+f 1 38 21
+f 1 21 12
+f 1 12 3
+f 1 3 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
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+f 2 10 7
+f 3 12 5
+f 3 5 11
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+f 5 13 23
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+f 5 39 46
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+f 13 22 23
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+f 14 20 24
+f 15 26 27
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+f 17 33 34
+f 17 34 35
+f 17 35 18
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+f 18 36 19
+f 19 36 20
+f 20 36 37
+f 20 37 24
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+f 21 23 22
+f 23 38 40
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+f 24 37 25
+f 25 37 27
+f 25 27 26
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+f 27 41 28
+f 28 41 29
+f 29 41 30
+f 31 42 43
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+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 34 45 35
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+f 39 40 47
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+f 42 49 43
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+f 43 51 44
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+f 46 54 55
+f 46 55 53
+f 48 56 57
+f 48 57 49
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+f 49 56 59
+f 50 52 51
+f 53 55 60
+f 55 61 62
+f 55 62 63
+f 55 63 60
+f 58 62 61
+f 58 61 59
+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_41.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e30a7edf7a3c05d13c048a93fb9ba551c6c049
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_41.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02920875 0.02980188 -0.00901768
+v 0.02920875 0.02962293 -0.00784180
+v 0.02920875 0.03015865 -0.00901768
+v 0.03056099 0.02853763 -0.00901769
+v 0.02920875 0.02956711 -0.00647069
+v 0.03065497 0.02845835 -0.00901769
+v 0.02920875 0.03179388 -0.00252079
+v 0.03027749 0.03055274 -0.00901768
+v 0.02920875 0.02963792 -0.00252080
+v 0.03182702 0.02818741 -0.00901769
+v 0.03083905 0.02855341 -0.00784181
+v 0.03182702 0.03208945 -0.00252079
+v 0.03108760 0.03146368 -0.00596637
+v 0.03182702 0.03101033 -0.00901768
+v 0.03046546 0.03061470 -0.00901768
+v 0.03101070 0.02864076 -0.00676641
+v 0.03140216 0.02871466 -0.00585764
+v 0.03182702 0.02924113 -0.00252080
+v 0.03201420 0.02818318 -0.00901769
+v 0.03441577 0.02913568 -0.00252080
+v 0.03318780 0.02917301 -0.00252080
+v 0.03195984 0.03208829 -0.00252079
+v 0.03318780 0.03100533 -0.00901768
+v 0.03300062 0.03100610 -0.00901768
+v 0.03318780 0.02815817 -0.00901769
+v 0.03454859 0.02913914 -0.00252080
+v 0.03318780 0.03206405 -0.00252079
+v 0.03318780 0.03186392 -0.00375136
+v 0.03454859 0.03199939 -0.00252079
+v 0.03402509 0.03146099 -0.00595175
+v 0.03450665 0.03154258 -0.00511802
+v 0.03530044 0.03148793 -0.00466586
+v 0.03454859 0.03070360 -0.00901768
+v 0.03339285 0.02818819 -0.00901769
+v 0.03422704 0.02862922 -0.00647832
+v 0.03456180 0.02840563 -0.00901769
+v 0.03463714 0.02855149 -0.00787743
+v 0.03601035 0.02952169 -0.00252080
+v 0.03590083 0.03173038 -0.00252079
+v 0.03454859 0.03178772 -0.00375136
+v 0.03523364 0.03031952 -0.00901768
+v 0.03470238 0.02845027 -0.00901769
+v 0.03514976 0.02874892 -0.00744688
+v 0.03524219 0.02869196 -0.00835629
+v 0.03602744 0.02952977 -0.00252080
+v 0.03714278 0.03075284 -0.00252080
+v 0.03535636 0.03024293 -0.00901768
+v 0.03525462 0.02867618 -0.00901768
+v 0.03689346 0.03012399 -0.00252080
+v 0.03537656 0.02937200 -0.00901768
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+f 1 5 9
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+f 1 7 3
+f 1 3 8
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+f 1 14 24
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+f 7 9 18
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+f 17 21 18
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+f 46 48 50
+f 46 50 47
+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_42.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace958070ea969cee4c73ca95b2ef3251fef23fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_42.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00547995 0.01940051 -0.00899156
+v 0.00454385 0.01939163 -0.00899156
+v 0.00563020 0.01937486 -0.00899156
+v 0.00679211 0.01925552 -0.01450880
+v 0.00671912 0.01925749 -0.01450880
+v 0.00633879 0.01925749 -0.01450880
+v 0.00441110 0.01935513 -0.00899156
+v 0.00489942 0.01932851 -0.01056923
+v 0.00651551 0.01903652 -0.01165485
+v 0.00664527 0.01914898 -0.01256332
+v 0.00626025 0.01838053 -0.00899156
+v 0.00744477 0.01835490 -0.01450880
+v 0.00522810 0.01917858 -0.01279935
+v 0.00511072 0.01924565 -0.01193247
+v 0.00567929 0.01889350 -0.01450880
+v 0.00422542 0.01929003 -0.00899156
+v 0.00685529 0.01853245 -0.01203833
+v 0.00645447 0.01709520 -0.00899157
+v 0.00665295 0.01783405 -0.00983035
+v 0.00674131 0.01808066 -0.01056923
+v 0.00751862 0.01809941 -0.01450880
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+v 0.00648947 0.01709520 -0.00913416
+v 0.00632726 0.01026707 -0.00899159
+v 0.00678058 0.01026708 -0.01069834
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+v 0.00665637 0.01709521 -0.00981578
+v 0.00780547 0.01709522 -0.01450881
+v 0.00378362 0.01881160 -0.00899156
+v 0.00383954 0.01804318 -0.01019979
+v 0.00372173 0.01848312 -0.00920058
+v 0.00479186 0.01709522 -0.01450881
+v 0.00629781 0.01011910 -0.00899159
+v 0.00671784 0.00943650 -0.01095112
+v 0.00745075 0.00932504 -0.01450884
+v 0.00366709 0.01848016 -0.00899156
+v 0.00346049 0.01709520 -0.00899157
+v 0.00348909 0.01731024 -0.00899157
+v 0.00449861 0.01709522 -0.01329572
+v 0.00379600 0.01709521 -0.01038614
+v 0.00351171 0.01709520 -0.00920599
+v 0.00475557 0.01026709 -0.01450883
+v 0.00628415 0.01005203 -0.00899159
+v 0.00609847 0.00932502 -0.00899160
+v 0.00661838 0.00932503 -0.01085336
+v 0.00679937 0.00932503 -0.01157495
+v 0.00498907 0.00932504 -0.01450884
+v 0.00394668 0.01026708 -0.01113853
+v 0.00378447 0.01026708 -0.01045691
+v 0.00344470 0.01048211 -0.00899159
+v 0.00496217 0.00942862 -0.01450884
+v 0.00385149 0.00940493 -0.01019227
+v 0.00363465 0.00932502 -0.00899160
+v 0.00383399 0.00932503 -0.01001565
+v 0.00498608 0.00933293 -0.01450884
+v 0.00344939 0.01026707 -0.00899159
+f 1 2 7
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+f 1 16 22
+f 1 22 31
+f 1 31 38
+f 1 38 40
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+f 1 39 52
+f 1 52 58
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+f 1 46 45
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+f 54 57 56
+f 54 56 55
+f 54 55 58
+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_43.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a135ea8c54dceacc57a86f8e9ba1702793b05d6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_43.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00671957 0.01925681 -0.01450955
+v 0.00633918 0.01925681 -0.01450955
+v 0.00679291 0.01925553 -0.01450955
+v 0.00742193 0.02238028 -0.01451630
+v 0.00567991 0.01889257 -0.01450955
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+v 0.00744513 0.01835452 -0.01450955
+v 0.00749817 0.02238028 -0.01459966
+v 0.00751889 0.01809892 -0.01450955
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+v 0.00505380 0.01822033 -0.01450955
+v 0.00793574 0.02238029 -0.01526878
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+v 0.00829998 0.02238029 -0.01601374
+v 0.00775756 0.01019566 -0.01450958
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+v 0.00577066 0.02119174 -0.01875029
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+v 0.00475545 0.01026723 -0.01450958
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+v 0.00873216 0.02238031 -0.02203430
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+v 0.00567577 0.01709442 -0.01875031
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+v 0.00557715 0.00932408 -0.01825319
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_44.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14d0c2285216b8b831814fc231a284331200456
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_44.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.03865745 -0.02480298 -0.01825541
+v 0.03865745 -0.02595363 -0.01550964
+v 0.03865745 -0.02615113 -0.01825596
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+v 0.01243540 -0.02621415 -0.01813552
+v 0.01243540 -0.02696607 -0.01632740
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+v 0.01243540 -0.02922076 -0.01632741
+v 0.02248428 -0.02812413 -0.01550964
+v 0.02365985 -0.02754589 -0.01550964
+v 0.03865745 -0.02913710 -0.01599837
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+v 0.03865745 -0.02891998 -0.01796268
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_45.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c673d9ad3495a6840f2f9c149c0b227d69d4029
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02920875 0.02799756 -0.00972490
+v 0.02920875 0.02799756 -0.00872490
+v 0.02920875 0.03101034 -0.00972490
+v 0.02920875 0.03101034 -0.00872490
+v 0.03845977 0.02799756 -0.00972490
+v 0.03845977 0.02799756 -0.00872490
+v 0.03845977 0.03101034 -0.00972490
+v 0.03845977 0.03101034 -0.00872490
+f 2 4 1
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+f 4 8 3
+f 7 5 3
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_46.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f42f918c99017945110b8c53aa32b33b1daf98
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_46.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00898866 -0.02884017 -0.01632735
+v 0.00898866 -0.02867736 -0.01706160
+v 0.00920998 -0.02874763 -0.01738712
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+
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_5.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7396ce659a80499fb9496e2f568add700740f189
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_5.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.00898866 -0.03433275 0.00509206
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_6.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da941c746c4dd81a743fd055054d2017f11e701
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_6.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_7.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93a60daca1e510528c0dfad4d35ce2e1db11c8f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_7.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_8.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2412998282043c2618e8a1baa83f820e50f6820
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_8.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_9.obj b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32654edeb97c962e976d833f67c8ac887c999233
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/mesh/soap_dish_011_collision_9.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/soap_dish_011.xml b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/soap_dish_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6e801045c1f6e89c775494827317319987995466
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/mjcf/soap_dish_011.xml
@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_011">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/soap_dish_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_011_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_011_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_011_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_011_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_011_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_011_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_011_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_011_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_011_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_011_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soap_dish_011_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/soap_dish_011_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/soap_dish_011_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/soap_dish_011_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/soap_dish_011_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/soap_dish_011_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/soap_dish_011_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/soap_dish_011_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/soap_dish_011_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/soap_dish_011_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/soap_dish_011_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/soap_dish_011_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/soap_dish_011_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/soap_dish_011_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/soap_dish_011_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/soap_dish_011_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/soap_dish_011_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/soap_dish_011_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/soap_dish_011_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/soap_dish_011_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/soap_dish_011_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/soap_dish_011_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/soap_dish_011_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/soap_dish_011_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/soap_dish_011_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/soap_dish_011_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/soap_dish_011_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/soap_dish_011_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/soap_dish_011_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_011">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" 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/3254713e395c53938ff154fdbc546756/soap_dish_011.urdf b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/soap_dish_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..914a34134fca8a52f5b956bf49effc97f5a34ada
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/soap_dish_011.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_011">
+   <link name="soap_dish_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>3254713e395c53938ff154fdbc546756</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>wall soap dish</name>
+         <color>white,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>white slotted soap basket on dark square wall mount</description>
+         <min_height>0.0754</min_height>
+         <max_height>0.0754</max_height>
+         <real_height>0.0754</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145809</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.009755 -0.041487 -0.035280</min>
+            <max>0.050924 0.041535 0.040120</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/soap_dish_011.usd b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/soap_dish_011.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a06cf7ecd57bd10c4d3bcdbcb926814d25d4c130
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/soap_dish_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9dee5d5fc207b6dd3f3f5f309b637800bf077f088b6e68ac0214e06aec03d1c
+size 4921465
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/textures/material_0.png b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb692466b43baaefa1bc1c7339be8ef71b5ad121
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9181759
diff --git a/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/video.mp4 b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fbbe6abda84d46e5bd7ab02e847e764feb50acef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:6ce9c1b510439070d4bae1918073d18949fcaf1ec2a5177df678f7acf6c661c6
+size 349833