diff --git a/.gitattributes b/.gitattributes
index 3f650664b72007e4d9a9661a52dbce17a5da94ee..fda04bf07ff800b82f07c1fc87a905b1efa8eefa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2425,5 +2425,5 @@ dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mesh/fa
dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mjcf/mesh/facial_cleanser_013.obj filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/facial_cleanser_002.usd filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/d9cf7b28012457b9ac2fd54bedbb908d/mesh/shampoo_bottle_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/d9cf7b28012457b9ac2fd54bedbb908d/shampoo_bottle_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/soap_dish_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47f4e1980fcc3f4c22f81a695298faea40cf11bc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_033_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec1c4e379f53d2100e2524aacb9569842ff5b0a6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a272c3cb5f4ef9add0a0a123314461b01ef5c24c8379c89edd4e92e6ff8677f4
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.glb b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..027fdaf90dd45025f0c602a99d36e7a8d6b482f2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72694382711730e8f92223421d0401ae555ec2556a07b2ffd2fa5b6eff519775
+size 15831544
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.mtl b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a96408ad1b1e1a1bab60a8f050175ce5a3cf98f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_033_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/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e46051263a67010ccf3d802fc1e34a099893b434
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.obj
@@ -0,0 +1,107970 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_033_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033_collision.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..226c89f46b3e7cf2e15e971105f7691c086aefcc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ccbd4b0e2854d5867a143dd6b2df39c173c61a1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision.obj
@@ -0,0 +1,12903 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_0.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efb0f3a41cc1a7182528a269bafd6efe206fc146
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_1.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bad6396de2da37d2bcfa98a8d268ebd9a4800c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_1.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_10.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb745d7fc53b733d97c312d0b89bfd5bc7ae733a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_10.obj
@@ -0,0 +1,847 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_11.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..334b42e5daf188d96d5138083ed7f7eac11d5587
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_12.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157737752e3c00a6f4051f7ca418e0170cad3aad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_12.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_13.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16cf523309c4d60fc9efa6e6b39b7bf07e4a762c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_13.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_14.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca438efcd27e9f20432a8f179c80815766ed952f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_14.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_15.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd1381eff4af0587dab685eb1b03f804ac9ee28
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_15.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_16.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..236f13b41c3c5d475211f6f50d235deddc11d6b1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_16.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_17.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab31fcd58e03105a5a5dfd0ac51aa3abf923a0d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_17.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_18.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb2080721155af3368645a98b0ac2af8ea936b5b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_18.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_19.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfd146fe0d3a81c491f7bc44b5a4df0d6b390c97
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_19.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_2.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4023ed94a271f9c2f86eb2ee1318587374d0b756
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_2.obj
@@ -0,0 +1,847 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_20.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d54540a91775ff7cc17dee026e57bd475bd611b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00553405 -0.05710649 0.00681373
+v -0.00553405 -0.04600982 0.00660699
+v -0.00894774 -0.05710648 0.00679830
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+v -0.00604894 -0.04600982 0.00659002
+v -0.02006498 -0.05449851 0.00656530
+v -0.02006498 -0.05710648 0.00668874
+v -0.01753174 -0.05710648 0.00672268
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+v -0.00608593 -0.04600982 0.00658848
+v -0.02006498 -0.05154946 0.00593419
+v -0.02006498 -0.04795302 0.00035439
+v -0.02006498 -0.04722635 0.00092225
+v -0.00593800 -0.04600979 -0.00238458
+v -0.00624665 -0.04600982 0.00654836
+v -0.02006498 -0.04794325 0.00389269
+v -0.02006498 -0.04768365 0.00286036
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+v -0.00608593 -0.04600979 -0.00233675
+v -0.00604894 -0.04600979 -0.00234909
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_21.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58e367209790495421d49e8923954960531c5b4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_21.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00535880 -0.03433007 0.00674768
+v 0.00535880 -0.03144806 0.00668666
+v -0.00553405 -0.03432733 0.00671822
+v -0.00553405 -0.03720934 0.00673715
+v 0.00535880 -0.05194748 0.00670132
+v 0.00535880 -0.02828989 0.00604696
+v 0.00535880 -0.02800005 0.00596700
+v -0.00553405 -0.03138517 0.00590385
+v -0.00553405 -0.05194748 0.00668028
+v -0.00355081 -0.05194748 0.00668449
+v 0.00535880 -0.05194741 -0.01475036
+v 0.00535880 -0.02635397 0.00532307
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+v -0.00553405 -0.03129219 -0.00115411
+v 0.00535880 -0.02401608 0.00092290
+v -0.00553405 -0.02946292 0.00372797
+v -0.00553405 -0.02988128 0.00443713
+v 0.00535880 -0.02840744 -0.00276813
+v -0.00553405 -0.02998517 -0.00026608
+v 0.00535880 -0.02691448 -0.00180645
+v -0.00553405 -0.02946837 0.00079241
+v -0.00553405 -0.02939455 0.00100284
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_22.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed50dd50190de3258e3fa6f0418eb8f8b1002004
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_22.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01174488 0.03513661 0.00138310
+v -0.01174488 0.03513661 0.00139576
+v -0.01174488 0.03526589 0.00111080
+v -0.00553405 0.03846527 -0.00117210
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_23.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02024a9dde864f6f4eb99c3aeb5a82b4b378a548
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_23.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_24.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18ade7c302be63591b44fcc83420d6a1cf364d7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_24.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_25.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00e55d7371e87766670f34c5a30843f6e6a3f2c3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_25.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_26.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be93bf1905a78a402d64a6993a3121e9d1ed1d09
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_26.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_27.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b427609aaefb557a819cc12fe6a3c9891a5b5e5a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_27.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_28.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b1ce9059671988a80907bb4d228fcdc8fc0bb2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_28.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_29.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52173ee62788589afa833fa2ca729f8db47f2581
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_29.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
+v 0.00252224 -0.01172603 0.00082773
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_3.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a3709d99482f955a87d30c71b15d9ceac83be7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_3.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_30.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..981cbf61ab0e712e6c067ae35a5e50219d0f81d2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_30.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.04039934 -0.02480335 -0.01922006
+v -0.04039934 0.00088619 -0.01899521
+v -0.03843340 -0.02480335 -0.01881494
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+v -0.04039934 -0.02279426 0.00911029
+v -0.03892588 0.00088619 -0.01789363
+v -0.03854163 0.00088618 -0.01759118
+v -0.03439826 -0.02480336 -0.01676994
+v -0.04039934 -0.00546589 0.00910481
+v -0.03025588 -0.00550612 0.00691552
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_31.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f383d650ac0cbccb98637169167029e7e435fdaf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_31.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.00608589 -0.03432514 0.00672654
+v -0.01275246 -0.03144393 0.00675014
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+v -0.00553405 -0.03138581 0.00590387
+v -0.01275246 -0.02480344 0.00571071
+v -0.01275246 -0.02567943 0.00589756
+v -0.01275246 -0.03727900 0.00618866
+v -0.00851016 -0.04600982 0.00585303
+v -0.00624557 -0.04600982 0.00654782
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+v -0.00553405 -0.03065305 0.00526715
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+v -0.01275246 -0.02480342 -0.00107208
+v -0.01275246 -0.03925101 0.00540317
+v -0.00860625 -0.04600982 0.00576323
+v -0.01275246 -0.03144390 -0.00211067
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+v -0.01275246 -0.03625560 -0.00188936
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+v -0.01015790 -0.04600980 0.00020857
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_32.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3ef413af1880810f5e66eac78eeb3497b167ba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_32.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.01180901 0.01467161 0.00687455
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+v -0.01115076 0.01179036 0.00685120
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_33.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f48baf7b3a403c5dd0497ffc2cd8f61699c8401b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_33.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02405578 0.01059081 0.00203991
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+v -0.02405578 0.01059081 0.00169075
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+v -0.03016861 0.01059080 0.00679364
+v -0.04039934 0.01059079 0.00911756
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_34.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bf787fd5fd1ad87198f55672db910497c0d7f67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_34.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_35.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08169558bb2f81297af4531bdaa113881335051f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_35.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02589977 0.01059177 -0.00040730
+v -0.02589977 0.01170603 -0.00142878
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_36.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f00fbe6e2300dc39ffcbdc62c92c99a4b945fcc4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_36.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_37.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1ed664355c47bfd0e2f21c7b527c34e10631e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_37.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_38.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..526054dab4f76f6c452cd633e6a880aaa8fe11d7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_38.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v -0.03160983 -0.04069417 -0.01771702
+v -0.03017562 -0.04636540 -0.01739231
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+v -0.03049659 -0.04207874 -0.01691768
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_39.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18909becad88f21b1645b604a9b49ec55c555cad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_39.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.04039934 0.01059184 -0.02011879
+v -0.04039934 0.01107410 -0.02017571
+v -0.03470227 0.02619832 -0.02106245
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_4.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfcc41a35df3c6e10f377dc0938a12d4e6dae952
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_4.obj
@@ -0,0 +1,943 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_5.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26b7083ae44edcfb65c3dc4a97e4133627db7660
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_6.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad1b90022068cf593137fc456831d130e6262591
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_6.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_7.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d0c6612f4befa11d36f1c5c3d35e2668de694c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_7.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_8.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbceefcfa96e862ca5240db7e70686861bf26122
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_8.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_9.obj b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/mesh/soap_dish_033_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2754e85ffcf66229db8d74838ed092ae97db63b
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/soap_dish_033.xml b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/soap_dish_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..704e27f44bf14bbc4f217469007e320e89c86c59
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mjcf/soap_dish_033.xml
@@ -0,0 +1,94 @@
+
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/soap_dish_033.urdf b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/soap_dish_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e217462c1efe21f9d9ed88ec8adca0e4e239d809
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/soap_dish_033.urdf
@@ -0,0 +1,66 @@
+
+
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+
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+ 0.60
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+ bathroom_supplies
+ bath_products
+ soap_dish
+ brown soap dish
+ brown,beige
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+ 0.0560
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+ 0.2
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+ v0.1.0
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+ ""
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+
+ ./caption_candidates.json
+
+
+
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+ 2
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+
+ affordance/affordance_annot.json
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+ YES
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/soap_dish_033.usd b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/soap_dish_033.usd
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+++ b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/soap_dish_033.usd
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/textures/material_0.png b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/video.mp4 b/dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/video.mp4
new file mode 100644
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