diff --git a/.gitattributes b/.gitattributes
index 614923b99e218532631423488ec2954c019df727..be19d8276813d3fa4c90d75334101fae090b26ea 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2309,5 +2309,5 @@ dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/facial_
 dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/mesh/facial_cleanser_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2c214b38ee4a56729f1ce295b6fe4973/mesh/soap_dish_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2c214b38ee4a56729f1ce295b6fe4973/soap_dish_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f21a87694146abbfa996f6ee0f3d5474cee07af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_002_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..10be4b17b7510f61239575108028246d33c4405f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4ae6092b9c0f25afcfa32763c7a64820b3017d5e4ff454c5d3aefe60c0d4fc
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.glb b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2970cb05d66bd91e2408516e9fe0c69166804dec
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49383b36e83cd6df5088dcded1bb3facfc894d0cb3c5afd659fa54541b681663
+size 11156056
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.mtl b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..52568c2e0344a61aac9016333e3ce63ab8c4671c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_002_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc90a33b7a542484581b63542b54c496d9de0844
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.obj
@@ -0,0 +1,106858 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_002_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002_collision.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec0e8636cdcc8aabb234c8112415f76538920f39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002_collision.obj
@@ -0,0 +1,16619 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002.obj
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+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acadb0b0fc25b1f37ee424b45274fa3d11d21802
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision.obj
@@ -0,0 +1,16619 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_0.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f41f34a6912ebdaf35f586187f4bb7a6ceca802
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_0.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_1.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14218f6aecc600c7066ef8023baa30a6f7729886
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_10.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc92f5b33952fd104ace3bd2ef5654eb0c2eb273
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_10.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_11.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..470c37d87c9be6b64c2e305050a03fa5507dde67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_11.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_12.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4014700b5fc17481dff917d19f1f484f7f76508c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_12.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_13.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07f035a15add9e21f04c5167fadb7805688aa931
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_13.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_14.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..509ed00df91a3c579e3cc540c9f9695d937b67ce
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_14.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_15.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fabe7ef43a1b075ec1588fb57874ed75e9ef515
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_15.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_16.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02ecf6c31024f8f22aef5904e8828d4187c00a93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_16.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+v 0.03069709 0.02303078 -0.00632555
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+v 0.03008815 0.02471210 -0.00898333
+v 0.03004980 0.02560027 -0.00898333
+v 0.03041703 0.02303079 -0.00768911
+v 0.03024852 0.02303079 -0.00848974
+v 0.03016369 0.02134862 -0.00898334
+v 0.03026363 0.02134862 -0.00856015
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+v 0.03044143 0.01985135 -0.00780135
+v 0.03043214 0.02134862 -0.00775988
+v 0.03092022 0.02198709 -0.00533227
+v 0.03093300 0.02134861 -0.00533227
+v 0.03013464 0.02303079 -0.00898334
+v 0.03015207 0.02208474 -0.00898334
+f 1 2 3
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+f 1 4 11
+f 1 11 20
+f 1 20 12
+f 1 12 5
+f 1 5 14
+f 1 14 22
+f 1 22 33
+f 1 33 47
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+f 36 40 48
+f 39 45 40
+f 40 45 42
+f 40 42 48
+f 41 49 42
+f 42 49 48
+f 42 44 43
+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_17.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386309dbc909f78ef1e1770532b41618410d2255
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_17.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.02058931 0.00077449 -0.01436411
+v -0.02050573 -0.01723732 -0.01436308
+v -0.02058931 0.00077447 -0.00883775
+v -0.02058931 0.00620489 -0.01436518
+v -0.01411282 -0.01723732 -0.01436417
+v -0.02050573 -0.01723734 -0.00880351
+v -0.02058931 0.01984622 -0.00887089
+v -0.02058931 0.00788919 -0.01436517
+v -0.01567843 0.00788919 -0.01436571
+v -0.01400682 -0.01723732 -0.01436417
+v 0.00012852 -0.01723733 -0.00984127
+v 0.00023656 0.00077448 -0.00984284
+v 0.00023656 0.00956985 -0.00984171
+v 0.00023656 0.01984623 -0.00984168
+v -0.02058931 0.01984624 -0.01436349
+v 0.00023656 0.01984624 -0.01435750
+v 0.00023656 0.00620489 -0.01436136
+v 0.00023656 0.00533007 -0.01436136
+v 0.00012852 -0.01723732 -0.01435927
+v 0.00023656 0.00077449 -0.01435812
+v 0.00023656 0.00364578 -0.01436029
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 5 10
+f 2 10 19
+f 2 19 11
+f 2 11 6
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 16
+f 7 16 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 18
+f 12 18 17
+f 12 17 16
+f 12 16 14
+f 12 14 13
+f 18 21 19
+f 19 21 20
+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_18.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4b288152339990d2aec6d68b382a1081885fccb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_18.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00012969 -0.01723733 -0.01435913
+v 0.00012969 -0.01723734 -0.00984132
+v 0.00012969 -0.01397718 -0.01435967
+v 0.00595075 -0.01723733 -0.01436295
+v 0.02088958 -0.01723735 -0.00878878
+v 0.00012969 -0.00648394 -0.00983964
+v 0.00012969 -0.01229628 -0.01435967
+v 0.00023945 0.00452360 -0.01436124
+v 0.00762350 -0.01723733 -0.01436405
+v 0.00012969 -0.00556907 -0.00983964
+v 0.02088958 -0.01723733 -0.01436842
+v 0.02089365 0.00077695 -0.00887233
+v 0.02089365 0.01985134 -0.00878920
+v 0.00012969 0.00077334 -0.01435798
+v 0.00023945 0.00620450 -0.01436124
+v 0.01608477 0.00620450 -0.01436889
+v 0.02088958 -0.01397718 -0.01437005
+v 0.02089365 0.00620450 -0.01437107
+v 0.00012969 0.00077333 -0.00984290
+v 0.00023945 0.01985135 -0.00984119
+v 0.02089365 0.00137237 -0.01436835
+v 0.02089365 0.00077697 -0.01436781
+v 0.02089365 0.01985136 -0.01436829
+v 0.00023945 0.01985136 -0.01435736
+v 0.00605848 0.01985136 -0.01436119
+v 0.02089365 0.01482682 -0.01436995
+v 0.01608477 0.00788903 -0.01436888
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+f 1 14 7
+f 1 7 3
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+f 5 12 13
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+f 8 16 9
+f 9 17 11
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+f 11 17 18
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+f 11 21 22
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+f 14 19 20
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+f 16 27 18
+f 18 27 26
+f 23 26 25
+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_19.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d73d6ecf596ccb22f98078bbadcf6e1a366673ce
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_19.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00012969 -0.01723737 -0.00404035
+v 0.00012969 -0.01723738 -0.00113407
+v 0.00012969 -0.01701590 -0.00424738
+v 0.02088958 -0.01723373 -0.00502614
+v 0.02079608 -0.01723736 -0.00499644
+v 0.01942822 -0.01723738 -0.00058374
+v 0.00012969 -0.01661657 -0.00066367
+v 0.00012969 -0.01627892 -0.00442209
+v 0.02088958 -0.01723737 -0.00400366
+v 0.00012969 -0.01565811 -0.00456841
+v 0.02089365 0.01984770 -0.00502951
+v 0.02089365 0.00077694 -0.00500861
+v 0.02088958 -0.01723738 -0.00057632
+v 0.00012969 -0.01565813 -0.00059204
+v 0.00012969 -0.00051913 -0.00456660
+v 0.00023945 0.01630075 -0.00456523
+v 0.00023945 0.01710308 -0.00454907
+v 0.00023945 0.01798165 -0.00453115
+v 0.00023945 0.01856615 -0.00437741
+v 0.00023945 0.01919785 -0.00421012
+v 0.02089161 0.01985133 -0.00502645
+v 0.02089365 0.01985133 -0.00502165
+v 0.02089365 0.00077692 -0.00057276
+v 0.02088958 -0.01565813 -0.00057413
+v 0.01942822 -0.01565813 -0.00057020
+v 0.00012969 -0.01397723 -0.00057674
+v 0.00012969 -0.01489210 -0.00058504
+v 0.00012969 0.00077331 -0.00456442
+v 0.00023945 0.01981865 -0.00312300
+v 0.01774125 0.01985133 -0.00429355
+v 0.02089365 0.01985131 -0.00057488
+v 0.02089365 0.01125077 -0.00057141
+v 0.02088958 -0.00746420 -0.00057017
+v 0.02088958 -0.01082600 -0.00057149
+v 0.02088958 -0.01419143 -0.00057325
+v 0.01942822 -0.01061180 -0.00056800
+v 0.00012969 -0.01061180 -0.00057193
+v 0.00012969 -0.01229633 -0.00057412
+v 0.00012969 -0.01321120 -0.00057543
+v 0.00012969 0.00077329 -0.00057363
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+v 0.01798108 0.01985131 -0.00065087
+v 0.01717622 0.01985131 -0.00098544
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+v 0.01608070 0.01985132 -0.00156766
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+v 0.01961317 0.01985131 -0.00058099
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+v 0.00023945 0.01949917 -0.00152267
+v 0.01813555 0.01985131 -0.00063821
+v 0.01942822 0.01985131 -0.00058405
+v 0.02089365 0.01798163 -0.00057269
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+f 40 57 41
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+f 49 52 50
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+f 50 52 60
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+f 56 58 57
+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_2.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf6d48c723cb318ea93a89fd68efaf5bb3086dc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_2.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
+v -0.02276344 -0.03139237 0.00432850
+v -0.03118510 -0.03139237 0.00432850
+v -0.02432432 -0.03139239 0.00961121
+v -0.01164993 -0.03972835 0.00432847
+v -0.03112337 -0.03249393 0.00432850
+v -0.03239985 -0.03139237 0.00463317
+v -0.02474760 -0.03139239 0.01079549
+v -0.01164993 -0.04112913 0.00968504
+v -0.01164993 -0.04806813 0.00432844
+v -0.03080150 -0.03418818 0.00432849
+v -0.03239985 -0.03248630 0.00472382
+v -0.03333461 -0.03139237 0.00494708
+v -0.02510916 -0.03139239 0.01158950
+v -0.01164993 -0.04153697 0.01100278
+v -0.01164993 -0.04930691 0.00471704
+v -0.01567999 -0.04809291 0.00432844
+v -0.03078607 -0.03424536 0.00432849
+v -0.03239985 -0.03416913 0.00488328
+v -0.03376451 -0.03139237 0.00510739
+v -0.02591164 -0.03139240 0.01243050
+v -0.01164993 -0.04189145 0.01180349
+v -0.01164993 -0.04174280 0.01147448
+v -0.01164993 -0.04983100 0.00489750
+v -0.01400888 -0.04930691 0.00473299
+v -0.01568219 -0.04930691 0.00478922
+v -0.01902440 -0.04913539 0.00507292
+v -0.01730038 -0.04759169 0.00432845
+v -0.03074638 -0.03434255 0.00432849
+v -0.03072654 -0.03753286 0.00476996
+v -0.03243733 -0.03569567 0.00519299
+v -0.03363444 -0.03248630 0.00518461
+v -0.03407536 -0.03139237 0.00602981
+v -0.02738213 -0.03139240 0.01282918
+v -0.01164993 -0.04273383 0.01247662
+v -0.01164993 -0.05056283 0.00515516
+v -0.01233778 -0.05055139 0.00516439
+v -0.01400888 -0.05049041 0.00521475
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+v -0.01698512 -0.05025981 0.00550517
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+v -0.02069771 -0.04762599 0.00477581
+v -0.02057646 -0.04580023 0.00432845
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+v -0.01693442 -0.05024837 0.00648382
+v -0.01776997 -0.05004064 0.00648382
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+v -0.02865640 -0.04257752 0.00529368
+v -0.03021727 -0.04055165 0.00532978
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+v -0.03390781 -0.03248630 0.00648388
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_20.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac63051faf92aa4bd2d191a14a43b6a80490a1f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_20.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_21.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe137dc21caa3b9fe54eedba074b6f977e9ec3d3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_21.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_22.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36dd543f1431863b9e3e4dc2d4d84e928318441c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_22.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_23.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff9f7e7f5680d367ee1c1893023f3198486099e5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_23.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_24.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44ddbfef63f39ea5250c5b609122cbc47a8cb169
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_24.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_25.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ba0a4d2bee57406360f22bff242256743b0049b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_25.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_26.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83d1bd859ae0ea9e134f7fa85b72d799930f40e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_26.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01404083 0.01984620 -0.00312267
+v -0.01736604 0.01984621 -0.00427925
+v -0.01570853 0.01984620 -0.00159670
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+v -0.02058931 0.01984621 -0.00502760
+v -0.01759846 0.01984619 -0.00066192
+v 0.00023656 0.01950083 -0.00152248
+v 0.00023656 0.01920213 -0.00421027
+v -0.02058931 0.00077576 -0.00502287
+v -0.02058931 0.01984619 -0.00057591
+v 0.00023656 0.01856738 -0.00437793
+v 0.00023656 0.01798304 -0.00453161
+v 0.00023656 0.01710560 -0.00454952
+v 0.00023656 0.01630096 -0.00456568
+v 0.00023656 0.00284429 -0.00456573
+v -0.01902354 0.01984619 -0.00059381
+v 0.00023656 0.01888100 -0.00068724
+v 0.00023656 0.01920398 -0.00112211
+v -0.02058727 0.00077389 -0.00502244
+v -0.02058931 0.00077388 -0.00306467
+v 0.00023656 0.00077389 -0.00456443
+v -0.02058931 0.01966510 -0.00057416
+v 0.00023656 0.01630094 -0.00057199
+v 0.00023656 0.01717652 -0.00059251
+v 0.00023656 0.01798302 -0.00061171
+v -0.02058931 0.00077387 -0.00057379
+v 0.00023656 0.00077387 -0.00057379
+v -0.02058931 0.01293677 -0.00057025
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+v -0.00063399 0.01630094 -0.00057155
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+v -0.01902354 0.00452636 -0.00056897
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+v -0.00397754 0.00284427 -0.00056942
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+v -0.00268905 0.00077387 -0.00057292
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+f 34 41 35
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+f 38 40 39
+f 40 41 42
+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_27.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..995ce6d940e0571a2d5779e7f1b66ef2951aa356
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_27.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01973995 0.01984890 -0.00475109
+v -0.01245015 0.02471388 -0.00453779
+v -0.01245015 0.02345866 -0.00422413
+v -0.01748294 0.01984890 -0.00430557
+v -0.01973995 0.01984888 -0.00058648
+v -0.01973995 0.02783983 -0.00516280
+v -0.01929397 0.02819462 -0.00516280
+v -0.01245015 0.03402722 -0.00516278
+v -0.01245015 0.02271681 -0.00312308
+v -0.01404283 0.01984889 -0.00312263
+v -0.01736734 0.01984890 -0.00427920
+v -0.01973995 0.03143075 -0.00043700
+v -0.01902353 0.01984888 -0.00059388
+v -0.01245015 0.03666665 -0.00043699
+v -0.01973995 0.04402326 -0.00516274
+v -0.01245015 0.04631867 -0.00516273
+v -0.01245015 0.02307698 -0.00152237
+v -0.01570972 0.01984889 -0.00159687
+v -0.01245015 0.02377043 -0.00074699
+v -0.01245015 0.02382150 -0.00069055
+v -0.01973995 0.04512794 -0.00043695
+v -0.01759925 0.01984888 -0.00066189
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+v -0.01597446 0.04557952 -0.00516273
+v -0.01613644 0.04563059 -0.00472415
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_28.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aafe5fc61e4fc0e723489b06227ba16c5e2517a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_28.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03253445 -0.02899071 0.00432767
+v -0.03030867 -0.02911539 -0.00036291
+v -0.03020974 -0.02956465 -0.00036291
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+v -0.03078542 -0.03424512 0.00432765
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+v -0.02072130 -0.02899069 -0.00036291
+v -0.01849826 -0.03664514 0.00432765
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+v -0.02786030 -0.03599088 -0.00036293
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+v -0.02380443 -0.04403480 0.00432762
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+v -0.02062237 -0.04378367 -0.00036296
+v -0.01928416 -0.04454382 -0.00036296
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_29.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47aaa59183cac9b4720debe55c09b835aad203d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_29.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01849763 -0.04643947 0.00432761
+v -0.01849763 -0.04495753 -0.00036297
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_3.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f508235a20ae4fa7b0156be122fdd25ec39703
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_3.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_30.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..159376ec38c384733fecb6b13509306832257719
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_30.obj
@@ -0,0 +1,712 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_31.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cffe60b9126e26ce56d2a92b0e46bf943e0b49b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_31.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_32.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edc08cbe04b6d66709e1c0445ce0b698fd682d0d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_32.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_33.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..470e761ae4d4db809ac317b8f7631d0dd0e77616
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_33.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_34.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513bbb49728659b9c1de91d29b50067f8b6005bc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_34.obj
@@ -0,0 +1,688 @@
+# https://github.com/mikedh/trimesh
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+f 225 230 226
+f 226 230 227
+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_35.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a93409245f08eb28a2b9ae3ee1862461704ba92
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_35.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01292080 0.03304592 -0.00057627
+v 0.01292080 0.03304594 -0.00478039
+v 0.00023657 0.03304592 -0.00057545
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+v 0.01107044 0.02471467 -0.00454281
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+v -0.00230425 0.02471365 -0.00454116
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+v -0.00580378 0.03296703 -0.00057421
+v -0.00731884 0.02639567 -0.00057382
+v -0.00397578 0.02639567 -0.00057382
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_36.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6327139a1c8dd9cb4938dd47e9c8a991e1669f42
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_36.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.01691882 -0.03072886 -0.00517727
+v -0.01691882 -0.03129365 -0.00830714
+v -0.01691882 -0.04441661 -0.00517732
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+v -0.01691882 -0.04365510 -0.00830719
+v -0.01571700 -0.04486815 -0.00517732
+v -0.01691882 -0.04374898 -0.00792661
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+v -0.01523202 -0.04502016 -0.00517733
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+v -0.00143600 -0.04528392 -0.00800353
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+v -0.01448031 -0.04522282 -0.00517733
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+v -0.00397757 -0.04533160 -0.00792662
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_37.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4fa1ab88698f02672e43c78431da90311c888f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_37.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01292328 0.04877189 0.00432796
+v 0.01292328 0.04758280 -0.00039651
+v 0.01292328 0.04006613 0.00432793
+v 0.01609138 0.04876416 0.00432796
+v 0.01764271 0.04872550 0.00432796
+v 0.01324471 0.04754878 -0.00039651
+v 0.01292328 0.03672921 -0.00039655
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+v 0.01927296 0.03297784 -0.00039656
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_38.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07b08c7c9b76502faf6baf3892485bd9d7b22b76
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_38.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v -0.03026815 -0.01723736 -0.00517722
+v -0.02060635 -0.01723736 -0.00517722
+v -0.02987352 -0.01723735 -0.00696279
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_39.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a81bc01cdc0cde4321383fd599901a640eb26cc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_39.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_4.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df0aaa9696f0cee569a33d282c8fe90d4854b647
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_4.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_40.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..726a23dd5bacd469d6f8da3fe3a7d5231424d9a4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_40.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03327619 -0.01723740 0.00432772
+v 0.03343850 -0.02743769 0.00432768
+v 0.03196299 -0.01723738 -0.00041441
+v 0.02563308 -0.01723740 0.00432772
+v 0.03335243 -0.02893807 0.00432767
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+v 0.03187692 -0.02059662 -0.00041443
+v 0.03192365 -0.01911228 -0.00041442
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+v 0.02285298 -0.01723738 -0.00041441
+v 0.02277552 -0.01723738 -0.00041394
+v 0.02277306 -0.01723852 -0.00041441
+v 0.02087949 -0.02893805 -0.00041446
+v 0.02426209 -0.02893807 0.00432767
+v 0.03099408 -0.02893805 -0.00041446
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+v 0.03128795 -0.02743767 -0.00041445
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+v 0.03172446 -0.02345078 -0.00041444
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_41.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa5b337f27662294d2636e7eb886bc846669ea3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_41.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.00143600 -0.04695049 -0.00041452
+v -0.00143600 -0.04683415 -0.00095389
+v -0.00063113 -0.04682834 -0.00093139
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_42.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edfa98250d1caee3367c18761efcaff7b8b442ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_42.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03258589 0.03297499 0.00432790
+v 0.03266368 0.03292489 0.00432790
+v 0.03063269 0.03297501 -0.00039656
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+f 1 2 3
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_43.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cadd0d14c9db80bd59a323b3e91ba81e78c8a5fb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_43.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01892024 0.03280030 -0.00043654
+v -0.02285151 0.03280028 0.00432790
+v -0.02524638 0.01984744 0.00432785
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_44.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89bc96ef331c23459b7c5256e89f1b5e70b8e371
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_44.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01109444 -0.04809469 0.00432760
+v 0.01109444 -0.04656747 -0.00041452
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+
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_45.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e40a065387c39c8f6c486495ac6319b50bf02f6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_45.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_46.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c466e5b2dc3a3781dc86192fdc6bc0e73ca856ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_46.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_47.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..599df9cd4e4bdb7755ed77272eba4ab8628c0c98
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_47.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_48.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6d88105a156489b29ae299f56d472e2c759d04c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_48.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_49.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e5cf85be8bc45eb977f81f16464a1ee06b82747
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_49.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_5.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..752c7b19ed2dbe8bff596dff46d19d89640133e5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_5.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_50.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7229f3a3748fdcf818fdc3a73082196977b3894d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_50.obj
@@ -0,0 +1,106 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_6.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d84c74fb89f2e1b6d2a62e6e4d1cb76e56d13b37
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_6.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_7.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b873627bc499a573a1968bb5e91e82bcf55962
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_7.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_8.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfb6d578f0b00df0e279a3258b5fdc690086199e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_8.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_9.obj b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae90c1178af82f96c51ce26291fab5631bf4cc2e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/mesh/soap_dish_002_collision_9.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/soap_dish_002.xml b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/soap_dish_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7a4c8cb9f222ecc7ee57441b1155d5c20d7c2bb5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mjcf/soap_dish_002.xml
@@ -0,0 +1,116 @@
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" 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/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.urdf b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aef422639d9cb7da5ba95acc7f59f29935940be1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_002">
+   <link name="soap_dish_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>2b5e03ad56005397a2a1bd34cab0470b</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>gray soap dish</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular soap dish with drainage slots and rounded edges</description>
+         <min_height>0.0272</min_height>
+         <max_height>0.0272</max_height>
+         <real_height>0.0272</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225201</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.usd b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d26fa4a9ddf201fd1e47002ae7470d97d20b2bfe57c07136257a31b29cf601a
+size 4856676
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/textures/material_0.png b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4ae6092b9c0f25afcfa32763c7a64820b3017d5e4ff454c5d3aefe60c0d4fc
+size 7924960
diff --git a/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/video.mp4 b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/video.mp4
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be3d9b0982f6242562a0c143301c088f009e8dc95a734d4e2c2791e456d36ac1
+size 164484