diff --git a/.gitattributes b/.gitattributes
index 11cc88dc5d7855d45aa2ce7e7ff7666a47cd2d22..c9e4d8862a7805141791087cb9c35c8cb161e3d4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2337,7 +2337,5 @@ dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/mesh/sp
 dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/sponge_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/shampoo_bottle_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/facial_cleanser_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/shampoo_bottle_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d5d8f1fb1e7615c92c6c64724584cf790131e843
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_036_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e64822432bd0964cad72c56ee761be549740e99f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.glb b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a7a897bbdca82cd85b196b3393861471fee80079
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10679300
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.mtl b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..87fe1028c3b7e9bdafbcaa0aa726b601fba499fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_036_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef19280de91fa31f23f7e4c03bea4c7fb10ed224
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.obj
@@ -0,0 +1,119990 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_036_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036_collision.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783698b1a71c1581ef21c9b08a23ec83e0384d78
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036_collision.obj
@@ -0,0 +1,6741 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036_geometry_Looks_material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e64822432bd0964cad72c56ee761be549740e99f
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+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036.obj
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26f88709c661092e1a66238c1072c0c396d69889
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision.obj
@@ -0,0 +1,6741 @@
+# https://github.com/mikedh/trimesh
+
+o soap_dish_036_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_0.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dbb416a638f5a3f1bbece96a0e2c78ca3a2ab57
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_1.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b7a66d1311425ba3da22e5e02d59e9ba60542cb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_10.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbd9376a0294623930d6b102316ae17972db9241
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_10.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00052231 -0.04451806 -0.00866547
+v -0.00052231 -0.04451806 -0.00887831
+v -0.00059632 -0.04451807 -0.00620681
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+
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_11.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f5b0689e45c64640419278b22180dca045e19c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_11.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.05076234 0.06206012 0.00364683
+v 0.05076234 0.06206019 -0.01677920
+v 0.04933686 0.06206013 -0.00076718
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+v 0.05076234 0.00033924 -0.01677343
+v 0.04979085 0.00033924 -0.01677543
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+
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_12.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ea8310cf08d7c4bb0d7d6eebb7ebe754e28f51
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_12.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v -0.04824419 0.00033795 -0.01676730
+v -0.04824419 0.00033789 -0.00101329
+v -0.04824419 0.03847426 -0.01677179
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_13.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19857621aaa2d1bd2adf6643f13c3187f95938e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_13.obj
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_14.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e691bc4022c7f8cd3889d9b9add3e296e52a0b87
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_14.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v 0.04724079 0.06206331 -0.01678572
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_15.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a0098e4717faecd37332f58ecdaa11c68ff3489
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00099782 0.06773750 0.00114969
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+v 0.00099782 0.07802017 0.00114973
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+
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_16.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3b3b999363e0541c0bc3ea8385c197eeb5bf6e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_16.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.03883877 -0.04425518 -0.00202290
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_17.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..210a0f5906314995dad20ce05fef202a0c84668c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_17.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_18.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e74687bf9bf47d5131f45670d7b1c04ca222f50a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_18.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_19.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24d460f480f99cc0dd44149446b89606c730d04d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_19.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_2.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc744bb90696302dbf91310f9f436198a081f4ff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_2.obj
@@ -0,0 +1,634 @@
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_20.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513a35de60a25f9d69afec477bfdf86170a4327b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_20.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_21.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..917ab2b7f61f10cb1d215518ad3174fc68b5e8f6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_21.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_3.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9756bce0dc4dae26e8a8ce8759e8dacc66ea2a19
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_4.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c549f8d0ec302e79be1177d0635996bf557725b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_4.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_5.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ef031efef7a1ed37464090070b0d7737a4751c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_5.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_6.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690624b04c1f39577f0bf40db0f4afc462610a4e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_6.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_7.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48268daeb210c8797b7ac7e238a6094a5f3b9494
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_7.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_8.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba975bf987dc5fde5c61d6e99d9710c4fedefe84
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_8.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_9.obj b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9796962574c6b1bfb73457979c2815621043f90
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/mesh/soap_dish_036_collision_9.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/soap_dish_036.xml b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/soap_dish_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..deee83b0350faabd77b23666aded999e71e18d96
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mjcf/soap_dish_036.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_036">
+  <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_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_036_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_036_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_036_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_036_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_036_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_036_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_036_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_036_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_036_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_036_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_036_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_036_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_036_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_036_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soap_dish_036_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/soap_dish_036_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/soap_dish_036_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/soap_dish_036_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_036">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" 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/827aabd94ab05de09e311524b6552f12/soap_dish_036.urdf b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c3ef7f38561e2e0a4beae71d796f7ddc4ed5f6ab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_036">
+   <link name="soap_dish_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_036.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_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>827aabd94ab05de09e311524b6552f12</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>black soap dish</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular black soap dish with slotted draining tray</description>
+         <min_height>0.0479</min_height>
+         <max_height>0.0479</max_height>
+         <real_height>0.0479</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170438</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059770 -0.077696 -0.016265</min>
+            <max>0.060230 0.077641 0.031669</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/827aabd94ab05de09e311524b6552f12/soap_dish_036.usd b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7594698b995dde346f49d18b615808452209834e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea28724c952bf76da6d128963c0ede810619f4942643941ff8e4f026409459e4
+size 4982277
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/textures/material_0.png b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e64822432bd0964cad72c56ee761be549740e99f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58922c83499271a6891db57caeda1a9ae23aff8b25bf62228e21ce13db3c421e
+size 7448143
diff --git a/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/video.mp4 b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8c1b02d78c2082054f74c41ca57647404dfed6d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b69c7c8530c6507834ab31d1a2b165901db8b9cfe8b391c8950bb8a4af7f43c
+size 180344