diff --git a/.gitattributes b/.gitattributes
index c20376265da12d26b36c01804ed2f1fef0a78572..67e6094a0409f44f56bd01fbf0539b180db2541b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2349,3 +2349,5 @@ dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/so
 dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/soap_dish_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/soap_dish_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b3ed66e4c0b64d079264f81d09927eb1dc267ac7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4db1bc89a1bd7da0449adea5af3e8e8c8fc06d69
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56c99e8fc8b0b8e396d96c8e7adfa195507082792f62d6014f6c0942dae46af3
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.glb b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..55086866e584dec86849e6589d5d783c37ddb01b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48622801779cb76b26c9b6f8721faa548efbf2ce8ffba263f4a03c3be8b7f9be
+size 10692684
diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.mtl b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a4c264a8f26c5abc2a3fa78505d9e27e9212850
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_025_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/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e86b791ef46c5ff9a2fc767c73616fc5408a2fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.obj
@@ -0,0 +1,104130 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_025_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025_collision.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d7e49eaaac841a5351f7ed91b787cafd8c8353d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025_collision.obj
@@ -0,0 +1,12716 @@
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025.obj
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266f94dd87eb054d53c6122e29d5946ae3eba866
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision.obj
@@ -0,0 +1,12716 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_0.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..729ec9256b107d95dc3b194479546b3b23b853a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_1.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9ceec5873df8ab236d93a4bc42f5c1499331653
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_10.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecf2b282b9a15674bbc46913007f85fcbc04faf4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_10.obj
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_11.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60bc80a9d5452a4265612d58c50c3ec6efe0bac5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_11.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.03195746 0.05526933 0.00390826
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_12.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf8015dc86853fa283be56205c9179ba590b9004
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_12.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_13.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b7a45236bfd115430bb995d3d2f33a4c25e95e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_13.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_14.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cae249ffa04b4369a872430da1a099616ab1f35
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_14.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_15.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea45193e6fb216882a9b46ca77d19de3389b4125
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_15.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
+v -0.03043589 -0.05804657 0.00496198
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_16.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39746c684407421042eccd33e152e41ca2e18580
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_16.obj
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_17.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e09b612bc6094f4a813b256269425fb51eeb35d3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_17.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_18.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68cd390c160c7f6225822dd3a79e6d1559036bb4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_18.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_19.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60532bcba8094e5d7057ba661b977afd7b20abc2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_19.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_2.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a08c59d67196af0aa4f5bfc0ee08b3e216ba352
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_2.obj
@@ -0,0 +1,988 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_20.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f94c40d06ca698f4925668ca8b2d1512e64c9770
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_20.obj
@@ -0,0 +1,157 @@
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_3.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25659d18c98e0defbe33a3d1aa5026927bc0d81e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_3.obj
@@ -0,0 +1,727 @@
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_4.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5f738c09b1439c4fc565d832c525eff40f2a8d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_5.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea4323bf041b60b918fed01f377f618fae841b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_6.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25167cffb00db52686b7db7fab137f6f596f6857
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_6.obj
@@ -0,0 +1,862 @@
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_7.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eff59033e0ab8920eb4904067b9934678262f15
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_7.obj
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_8.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16217ed1688044b8d1b0228f39957c01baf44f67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_9.obj b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e290f9f07445b2964f45cd4e4a008f2845d9f3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/mesh/soap_dish_025_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/soap_dish_025.xml b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/soap_dish_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1e5ec4c89952711675e3473871ff4b9933c86169
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mjcf/soap_dish_025.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_025_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_025_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_025_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_025_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_025_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_025_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_025_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_025_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_025_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_025_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_025_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_025_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_025_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soap_dish_025_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/soap_dish_025_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/soap_dish_025_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_025">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/soap_dish_025.urdf b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/soap_dish_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20be024a73bd49951cc4a7702cd43c22b8063b89
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/soap_dish_025.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_025">
+   <link name="soap_dish_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>98fed76e004656e1bf834309444b54cd</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>gray soap dish</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>ceramic</material>
+         <description>rectangular gray soap dish with rounded corners and three drain holes</description>
+         <min_height>0.0381</min_height>
+         <max_height>0.0381</max_height>
+         <real_height>0.0381</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518150626</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.047537 -0.072642 -0.014126</min>
+            <max>0.047751 0.072324 0.024014</max>
+         </aabb>
+         <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_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/98fed76e004656e1bf834309444b54cd/soap_dish_025.usd b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/soap_dish_025.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/soap_dish_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c503cee792fc42285bbaeafbe4c49c2be6b312d64a768b9f24916ab3b890ae
+size 4804886
diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/textures/material_0.png b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4db1bc89a1bd7da0449adea5af3e8e8c8fc06d69
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+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/video.mp4 b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6204210f13c866752ec85f57fd9eb431e79eebd6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 127503