diff --git a/.gitattributes b/.gitattributes
index e5512994da1d92e637442bd6a7592524ee78b068..f0d2d1f78f18845857469c37188d97206f6f8ed6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2261,3 +2261,5 @@ dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/afforda
 dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/renders/image_depth_exr/0005.exr filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/sponge_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1636eae291201235d6cef75ec3cfd334b8b7766b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_003_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
+map_Kd soap_dish_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7247fcd80c1603064ba0dfb7beb18463471ce3b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97654d644f019df2071d86676479510f3236d019c2e6957a03e29ae82402da1d
+size 14125593
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.glb b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cc858a5bae2e230aa948006d7a83d3b34f1620bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f7be44757b5f96fae80cbf958c0432388b7ead425b3dd773b6d3c2dba811549
+size 17586892
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.mtl b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97a0e3906e0de87f35a10d93a89b5fc2b374a160
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_003_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/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2561b9a28a780e65e5d523f9b7cd686b6c87dd67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003.obj
@@ -0,0 +1,111236 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_003_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_collision.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7eeb40db4597a746c269876f73fc75d4520986
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_collision.obj
@@ -0,0 +1,21897 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7247fcd80c1603064ba0dfb7beb18463471ce3b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/soap_dish_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97654d644f019df2071d86676479510f3236d019c2e6957a03e29ae82402da1d
+size 14125593
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7247fcd80c1603064ba0dfb7beb18463471ce3b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97654d644f019df2071d86676479510f3236d019c2e6957a03e29ae82402da1d
+size 14125593
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003.obj
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index 0000000000000000000000000000000000000000..397f702f111286fe17f12184dc571f3ba6987af5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_003_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89663c8413b0440c3fb12f9b090799ad3e837e05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision.obj
@@ -0,0 +1,21897 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_0.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cab20b44d673a4aac32a555df47d58147a3121f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_0.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_1.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c84defde65026d2efa0b4cf150888f737602018
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_10.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..993aaed531d3b92327ef175ee99e4b2857d8c0c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_10.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_11.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7092ef2d2070b6d3ef8880c041b89ecb12bbb787
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_12.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1a30d2fe13ff3f6c3444b7a88dd935e326216e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_13.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f9239fcc76627cb62646a074f205600ed54dc4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_13.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_14.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae53e9bd460f1883b84de641efb76113b9af5820
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_14.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_15.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6c5e3949e7315819cae8deef98c4ea7210a3f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_15.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00032302 0.00145281 0.00507871
+v 0.00032302 0.00145286 -0.00705753
+v 0.00204169 0.00145281 0.00504901
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+
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_16.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce20013f2f338e579317da22f5018708ec75c49a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_16.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.03465613 0.01904867 0.01105842
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+
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_17.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9579b524f76f5ac8fa533efa370436eec52c0fc8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_17.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_18.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca4c995c63616210c56eee81414e77aeebf39279
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_18.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_19.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cdc07e8121d9723646bdd7c3aaef41a92d12bfb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_19.obj
@@ -0,0 +1,952 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_2.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..818a577d09a731a7f3e474904b777a69110848fa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_20.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1ab5c18e498498d8e001d59afe0930fc107b77
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_20.obj
@@ -0,0 +1,115 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_21.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc2fb05e5460c25ec24f64ec6b21334147577bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_21.obj
@@ -0,0 +1,904 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_22.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48b376ef2c5449b413fdd3d9d4b6335a4a93551c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_22.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_23.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60015483b0545eaed86157d6097ed0bb63c75758
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_23.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+v 0.02112805 -0.02732836 -0.00266679
+v 0.02112805 -0.02919608 -0.00209668
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+
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_24.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e63d0640799513a5320bf884049ce32d134de6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00096340 -0.01213234 -0.02255668
+v 0.01207395 -0.01213233 -0.02428903
+v 0.00096340 -0.01213236 -0.01565181
+v 0.00096340 0.00033009 -0.01914183
+v 0.01207395 0.00033010 -0.02168666
+v 0.01207395 -0.01213236 -0.01565181
+v 0.00096340 0.00033008 -0.01565177
+v 0.01207395 0.00033008 -0.01565177
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 4 7 8
+f 4 8 5
+
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_25.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70689d50db2d3be1d2d3b4d25a7b9c069562be88
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_25.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00032202 -0.01038478 -0.00705758
+v 0.00032202 -0.01038482 0.00298436
+v 0.00032202 0.00145114 -0.00705753
+v 0.01414087 -0.01038478 -0.00705758
+v 0.00204196 -0.01038482 0.00310808
+v 0.00032202 -0.00254017 0.00504964
+v 0.00032202 0.00145109 0.00507822
+v 0.01759508 0.00145114 -0.00705753
+v 0.01437811 -0.01009861 -0.00705758
+v 0.02121493 -0.01038479 -0.00509583
+v 0.02075274 -0.01038483 0.00442980
+v 0.00032202 -0.00248804 0.00505321
+v 0.02121493 -0.01038483 0.00445478
+v 0.00032202 0.00100041 0.00509605
+v 0.00204196 0.00100041 0.00509010
+v 0.00204196 0.00145109 0.00504847
+v 0.02121493 0.00145113 -0.00567990
+v 0.01765643 0.00100046 -0.00705754
+v 0.01486689 -0.00944982 -0.00705757
+v 0.01562767 -0.00806649 -0.00705757
+v 0.01621053 -0.00697975 -0.00705757
+v 0.01727808 -0.00432432 -0.00705756
+v 0.02121493 -0.00965953 -0.00515650
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+v 0.02121493 -0.00076988 0.00414670
+v 0.02121493 0.00069919 0.00406104
+v 0.02121493 0.00101432 0.00403844
+v 0.02121493 0.00138390 0.00396826
+v 0.02121493 0.00145110 0.00395517
+v 0.02121493 0.00100045 -0.00569537
+v 0.01768097 -0.00076983 -0.00705754
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+v 0.02121493 -0.00254013 -0.00565256
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+v 0.02121493 -0.00076984 -0.00569894
+v 0.02121493 -0.00223775 -0.00566207
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+f 32 34 33
+
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_26.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31420673e6413fe3649dc538d3690e4c2029b9e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_26.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00032202 -0.01685270 -0.00705760
+v 0.00032202 -0.01038478 -0.00705758
+v 0.00122596 -0.01684762 -0.00705760
+v 0.00128732 -0.02336000 -0.00513361
+v 0.00032202 -0.02336000 -0.00513361
+v 0.00032202 -0.01038482 0.00298427
+v 0.01414087 -0.01038478 -0.00705758
+v 0.00204196 -0.01684127 -0.00705760
+v 0.00204196 -0.02336000 -0.00513224
+v 0.00032202 -0.02336004 0.00464394
+v 0.00204196 -0.01038482 0.00310752
+v 0.02121493 -0.02336005 0.00693222
+v 0.02121493 -0.01311197 0.00506987
+v 0.01974449 -0.01139338 0.00461250
+v 0.02121493 -0.01038479 -0.00509522
+v 0.02121493 -0.01105292 -0.00504181
+v 0.02121493 -0.01274738 -0.00490351
+v 0.02121493 -0.01464127 -0.00474329
+v 0.02121493 -0.01640305 -0.00457623
+v 0.02121493 -0.01670536 -0.00454474
+v 0.02121493 -0.01817246 -0.00438590
+v 0.02121493 -0.01847477 -0.00435029
+v 0.02121493 -0.01994313 -0.00415995
+v 0.02121493 -0.02024417 -0.00411886
+v 0.01342917 -0.01136157 -0.00705758
+v 0.00291932 -0.01675616 -0.00705760
+v 0.00381304 -0.02336000 -0.00509116
+v 0.02075274 -0.01038483 0.00443037
+v 0.02121493 -0.02336001 -0.00359714
+v 0.02121493 -0.01139338 0.00469055
+v 0.02121493 -0.01038483 0.00445502
+v 0.02121493 -0.02171382 -0.00389018
+v 0.01264180 -0.01217959 -0.00705758
+v 0.02121493 -0.02201486 -0.00384088
+v 0.00381304 -0.01663676 -0.00705760
+v 0.00558206 -0.02336000 -0.00500626
+v 0.02121493 -0.02307168 -0.00365191
+v 0.01972609 -0.02336001 -0.00374914
+v 0.00726519 -0.01573618 -0.00705760
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+v 0.01078688 -0.01374449 -0.00705759
+v 0.01153744 -0.01312971 -0.00705759
+v 0.00445725 -0.01651228 -0.00705760
+v 0.00736540 -0.02336000 -0.00488849
+v 0.01797547 -0.02336001 -0.00391895
+v 0.01089323 -0.02336000 -0.00458722
+v 0.00912420 -0.02336000 -0.00474744
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+
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_27.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d07cbebb62e370c7abc8d33a514b929ce6fbd53e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_27.obj
@@ -0,0 +1,1051 @@
+# https://github.com/mikedh/trimesh
+v 0.02122000 0.04646428 0.01585223
+v 0.02122000 0.04534385 0.01585002
+v 0.02122000 0.04658451 0.01576375
+v 0.02118727 0.04653747 0.01585444
+v 0.00679434 0.05163429 0.01924780
+v 0.00679434 0.05093729 0.01924780
+v 0.02122000 0.04428614 0.01571729
+v 0.02122000 0.04724841 0.01497625
+v 0.02043039 0.04771714 0.01525056
+v 0.01925007 0.04820330 0.01587879
+v 0.01201270 0.05162036 0.01750910
+v 0.01089170 0.05196885 0.01771482
+v 0.00918361 0.05248115 0.01797806
+v 0.00981162 0.05316074 0.01732330
+v 0.00863130 0.05332279 0.01753787
+v 0.00558334 0.05182248 0.01936061
+v 0.00381183 0.05057659 0.01958182
+v 0.00572244 0.05043893 0.01938052
+v 0.00640772 0.04975587 0.01914824
+v 0.00522740 0.04955374 0.01926106
+v 0.00381183 0.04947706 0.01931415
+v 0.02122000 0.03631594 0.01146785
+v 0.02122000 0.04740002 0.01457586
+v 0.01729651 0.04983429 0.01581685
+v 0.01407876 0.05177544 0.01606240
+v 0.00918361 0.05358765 0.01666409
+v 0.01181836 0.05325135 0.01571290
+v 0.01089170 0.05341166 0.01606905
+v 0.00735279 0.05381940 0.01654685
+v 0.00735279 0.05339946 0.01767280
+v 0.00558334 0.05270768 0.01865275
+v 0.00381183 0.05192006 0.01942697
+v 0.00204238 0.05057659 0.01944246
+v 0.00204238 0.04956768 0.01924779
+v 0.00204238 0.05180506 0.01935398
+v 0.01786110 0.03631594 0.01115816
+v 0.02122000 0.03631598 0.00015085
+v 0.02069632 0.04796284 0.01408921
+v 0.02122000 0.04754813 0.01323313
+v 0.01752767 0.04999113 0.01480372
+v 0.01525908 0.05141997 0.01538771
+v 0.00912429 0.05401457 0.01480374
+v 0.01457585 0.05188697 0.01480594
+v 0.01276139 0.05285232 0.01480373
+v 0.01187564 0.05327575 0.01480374
+v 0.01089170 0.05361554 0.01480374
+v 0.00558334 0.05384903 0.01654685
+v 0.00558334 0.05343952 0.01778120
+v 0.00735279 0.05411564 0.01480374
+v 0.00381183 0.05280526 0.01868150
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+v 0.00087433 0.05161687 0.01924337
+v 0.00091729 0.05057659 0.01923010
+v 0.00111981 0.04967571 0.01917036
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+v 0.01470677 0.03631599 -0.00156794
+v 0.01453903 0.03645887 -0.00156573
+v 0.01325643 0.03707920 -0.00168959
+v 0.01443470 0.03818394 -0.00098173
+v 0.01433038 0.03994039 -0.00028934
+v 0.01367169 0.04091794 -0.00005265
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_28.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..356219d5c7bc276830b6a09e36d7333371722d0b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_28.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+v -0.00999237 -0.01262790 -0.00705759
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+
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_29.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da196cff441c3e4ca11eeea11432b3f66880ab57
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_29.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_3.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b423f1de272bdab2bbadadcc53c7b1d780ab8f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_3.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
+v 0.04856602 -0.02336249 0.01655866
+v 0.04794347 -0.02336250 0.01831810
+v 0.04849075 -0.02378713 0.01654544
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_30.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15986223101f771cf1f2cb8ee0cc7a7037dc9c47
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_30.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_31.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5074e1acafeb84446ad1921817db48f67768a58f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_31.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_32.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba00c53e009c48f523f243bd4b244f6fef6226b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_32.obj
@@ -0,0 +1,688 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_33.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1f370a6748e2cd9db41d7397512663e089e56a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_33.obj
@@ -0,0 +1,919 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_34.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..773401f4bd8da76e41cac65299302ea98c4eb842
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_34.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_35.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1bd6b3b08cf57fddae1da4811f29268f87becf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_35.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_36.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb5f87fb27c5d676144986f215f2f1287d36fd8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_36.obj
@@ -0,0 +1,754 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_37.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9146dfd4927a03d3c74e9cb1669725f50bed947
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_37.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_38.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af3538a551db69ad1d819793c26285ab744adbe0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_38.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_39.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f234a2a233791af2273a197e64d4a5fb342df1a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_39.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_4.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0183a0b237175b8a2eb41aa71b2fba2c4cea932
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_4.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_40.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c32c460fc55213245dc98ecfc5fe39980879ef0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_40.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_41.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db80aa0bed1931638731942989c4818d767ad8de
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_41.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_42.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e0631a50716d938817281dc1d2b9d694284a52
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_42.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_5.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ad9efd53e0781bb7a45cf79196d6a2f85bd03e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_6.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b053b76383d6295b9c15e43c7ec4977d63b7fd5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_6.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_7.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beb91891a38dd7e08d143b8f676a31cf68bbd717
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_7.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_8.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d371036df9598cf82016923073feb1b4bb5b625
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_8.obj
@@ -0,0 +1,946 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_9.obj b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52a6b90f13e65678d159f5257f3e37abd960e0d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/mesh/soap_dish_003_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/soap_dish_003.xml b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/soap_dish_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f2952861f32a2d45f879a801d169736dcc277f01
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mjcf/soap_dish_003.xml
@@ -0,0 +1,100 @@
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+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.urdf b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c076244e4baca648403faf9304b14b93e864b17f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_003">
+   <link name="soap_dish_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>02754f95c1ea5a74bb8026ea3d67670a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>wooden soap dish</name>
+         <color>brown</color>
+         <shape>irregular</shape>
+         <material>wood</material>
+         <description>curved wooden soap dish with pedestal base</description>
+         <min_height>0.0517</min_height>
+         <max_height>0.0517</max_height>
+         <real_height>0.0517</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225229</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.usd b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0db95376b7848fc15cf424ab4f7aee78d56d5cf7c966acb99dd4235345700970
+size 4983088
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/textures/material_0.png b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97654d644f019df2071d86676479510f3236d019c2e6957a03e29ae82402da1d
+size 14125593
diff --git a/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/video.mp4 b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:247ed4c7566d0f50b1c7836b064a607b3e565e106354cc52d2b5f71b0eea81ee
+size 323635