diff --git a/.gitattributes b/.gitattributes
index 0f88a68c49388c939398f4edfb39e915e828c6b4..7244ff970ebe612f96d1e58ed79927cfc5a268f4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2351,3 +2351,5 @@ dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/facial_
 dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mesh/facial_cleanser_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mesh/facial_cleanser_029.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mjcf/mesh/facial_cleanser_029.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/soap_dish_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bc139f02effab41086c488a8b1c8c943cc226fa8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_032_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5eb31127b6706e5e4e3ca3755746213c03416e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e32cf224ba896da26c305e8c6e99e0f7f3ed79f0552b38d1bda3d79c52fafc4
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.glb b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d0473be1cba5c1b267be5c692efb26fea77d9685
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8b6f661109300d25f7c01be8323a2d1786d368dbda121ea7da7b1f46d0f4e5c
+size 12035440
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.mtl b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c482cd64574a9fcad5b9dd6489d41e963053fe5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_032_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..999504f7570cbcbf6e4f5b293dcda69617df2067
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.obj
@@ -0,0 +1,109764 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_032_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032_collision.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783fee0fd94e2ed233d5302d6fc6ad77191c50de
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5eb31127b6706e5e4e3ca3755746213c03416e9
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032.obj
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index 0000000000000000000000000000000000000000..8e389dea83b099fa1453638a1904ba8fee6c2cc1
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5237fa53f52edf175e04649784b1c7317f8261a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision.obj
@@ -0,0 +1,20974 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_0.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f736cc7429c7944b17adaa2f823da1354b7fdd09
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_1.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d1550b19b9c5d0a75ba55e03c08cc23231402ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_10.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49745bdcda69197b84c333264373509201999752
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_10.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_11.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b71a91803b7e47da6c6d796bd2e9916a0be6ee5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_12.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f8216c1383e2dfea0a0cab42d883a833ddd0aef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_12.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_13.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99ef54ddc4b922ea24ba442961929de942078506
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_13.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_14.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7e678810a6afe7a96f76cb0fbdf2bd54293fff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_14.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_15.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d201afa176cfb1ae70ecb4f4623fecea545d09
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_15.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_16.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c594ca98288cebfd96abc867e587830d577c2f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_16.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_17.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ec3afa5396ea216cc2682402772a57270243984
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_17.obj
@@ -0,0 +1,898 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_18.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b27ea9104af7b1a58ce8c2dc594313e510072713
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_18.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_19.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac3e031789b119b537d04870a392ca5190bf338
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_19.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_2.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40232bbc2273d4a0eb98369dfe70df6ce2107d1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_2.obj
@@ -0,0 +1,931 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_20.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6d4f49b54005c404a2fc5d6a0cb3fee7ab68774
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_20.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+v -0.02469107 0.03626363 -0.02283326
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+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_21.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ee4b5fcd5dd47d6533ef551d411b091ecc3d34b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_21.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02750061 0.02030020 -0.02282774
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+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_22.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..664cfcb269b5868e49a7c3c365cde071d0dcb8c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_22.obj
@@ -0,0 +1,661 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_23.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d386c7f7b0c7a8cb37c78734e9ae701f5eec6e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_23.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_24.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8051ec311232bf896d7389bd8212241be85198
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_24.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_25.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd131c8de6bc9ac80ca75edcb3421c0b656378d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_25.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_26.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66a9d123c5b8d7ce6775448d8e1c1047d6f61cb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_26.obj
@@ -0,0 +1,124 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_27.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53e7e8686f15f9188824b8624da6b8b9e484b73
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_27.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_28.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30633343dd568464e082fc2c9f161dfcceb3fec8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_28.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_29.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c72aebdc5374f8c92eddc8361688c4d4102e8928
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_29.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_3.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b20e6ca4c98101048dde45743c4b7c11919a3e87
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_30.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..781d36b4435a6653febd5ddb42519b618d17b0b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_30.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_31.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5b041f2b2097776777c15ba07740fc8b7277f5c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_31.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_32.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3512f286d4239f50ceb1c83e40f862f421be3554
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_32.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_33.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13a1e4199e343af3436ba5ff989f044fd226e7a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_33.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_34.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d67beaf4f27e36a42b5ec573747b96511800f5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_34.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_35.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adebd46bba042da1bcf769d98bf83abad23dab0f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_35.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_36.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a164eb31ea434c05e7115a974fca23ab758917d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_36.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_37.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4046eda5e4b090bd0720937237a055417d01e18
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_37.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_38.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78640042ff22b0c3e8e0880eb05643a154acf38e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_38.obj
@@ -0,0 +1,1141 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_39.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df71835af7794b6e244a8466e41531aae0611aa5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_39.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_4.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf7dbacc79dc67a94983035516bc636613aaed8d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_4.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_40.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f80b1933f2eac02a9d980785f1ba90bf6127fd9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_40.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v 0.01683207 -0.00212592 0.01198033
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+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_41.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebebe68ef062eefe2088418dc24f8513a505a00b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_41.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+f 1 2 3
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+f 1 5 10
+f 1 10 17
+f 1 17 25
+f 1 25 34
+f 1 34 33
+f 1 33 44
+f 1 44 52
+f 1 52 49
+f 1 49 41
+f 1 41 40
+f 1 40 39
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+f 1 30 22
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+f 14 24 17
+f 14 20 21
+f 15 22 23
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+f 24 33 34
+f 24 34 25
+f 26 35 27
+f 27 35 36
+f 28 37 29
+f 29 37 48
+f 29 48 50
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+f 29 49 52
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+f 29 38 32
+f 30 39 31
+f 31 39 40
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+f 32 38 43
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+f 36 45 46
+f 36 46 47
+f 41 49 50
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+f 41 48 42
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+f 43 52 44
+f 46 53 47
+f 46 54 55
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+f 48 56 51
+f 54 56 55
+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_42.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4456883a12f2b4f202345df719a8f94ffe642b4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_42.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02618879 -0.03983333 0.01247914
+v -0.03851281 -0.03251262 0.01256369
+v -0.03851281 -0.04096451 0.01297919
+v -0.03851281 -0.04226465 0.01298622
+v -0.02618879 -0.04226465 0.01238406
+v -0.02618879 -0.03788024 0.01218335
+v -0.03715795 -0.03251261 0.01220450
+v -0.03851281 -0.03251249 -0.02223162
+v -0.03851281 -0.04226452 -0.02271409
+v -0.02618879 -0.04226452 -0.02282678
+v -0.02618879 -0.03658487 0.01143682
+v -0.03605162 -0.03251261 0.01188053
+v -0.03771534 -0.03251249 -0.02234782
+v -0.03732565 -0.04226452 -0.02292538
+v -0.03468470 -0.04226452 -0.02298876
+v -0.02618879 -0.03806912 -0.02283380
+v -0.02618879 -0.03620208 0.01103185
+v -0.02618879 -0.03541264 0.01017615
+v -0.03466902 -0.03251261 0.01093326
+v -0.03732806 -0.03251249 -0.02240417
+v -0.03474985 -0.03251249 -0.02263306
+v -0.03429380 -0.03251249 -0.02265771
+v -0.03217164 -0.03251249 -0.02275983
+v -0.02959222 -0.03251249 -0.02281617
+v -0.02913618 -0.03251249 -0.02281970
+v -0.02701280 -0.03251249 -0.02283378
+v -0.02618879 -0.03251249 -0.02283378
+v -0.02618879 -0.03288383 -0.02283730
+v -0.02618879 -0.03517398 0.00952820
+v -0.03147913 -0.03251260 0.00813724
+v -0.02618879 -0.03251255 -0.00478995
+v -0.02618879 -0.03468810 0.00811963
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 28
+f 1 28 27
+f 1 27 31
+f 1 31 32
+f 1 32 29
+f 1 29 18
+f 1 18 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
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+f 2 31 27
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+f 2 25 24
+f 2 24 23
+f 2 23 22
+f 2 22 21
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+f 2 20 13
+f 2 13 8
+f 2 8 9
+f 2 9 4
+f 2 4 3
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+f 4 14 15
+f 4 15 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 15 23 24
+f 18 29 30
+f 18 30 19
+f 29 32 30
+f 30 32 31
+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_43.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab21e489e73d1685eafe175e1935ce44c7e123d6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_43.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.02701280 -0.03251249 -0.02283415
+v -0.02618879 -0.03251249 -0.02283415
+v -0.02913618 -0.03251249 -0.02282024
+v -0.02959222 -0.02168106 -0.02282020
+v -0.02701280 -0.01908936 -0.02283410
+v -0.02618879 -0.00865952 -0.02283406
+v -0.02618879 -0.03251255 -0.00478936
+v -0.02959222 -0.03251249 -0.02281676
+v -0.03217164 -0.02945849 -0.02276109
+v -0.03217164 -0.01130959 -0.02276450
+v -0.03217164 -0.00865952 -0.02276449
+v -0.02964771 -0.00865952 -0.02281667
+v -0.02706830 -0.00865952 -0.02283059
+v -0.02618879 -0.00865964 0.01096645
+v -0.02618879 -0.03245186 -0.00196453
+v -0.03147913 -0.03251260 0.00813805
+v -0.03217164 -0.03251249 -0.02275762
+v -0.03474985 -0.03205253 -0.02263586
+v -0.03474985 -0.01908936 -0.02263929
+v -0.03474985 -0.00865952 -0.02263925
+v -0.03851281 -0.00865965 0.01259803
+v -0.02618879 -0.00979671 0.01204836
+v -0.02618879 -0.03233747 0.00307633
+v -0.02618879 -0.03227677 0.00559849
+v -0.02618879 -0.03207598 0.00812066
+v -0.03466902 -0.03251261 0.01093157
+v -0.03429380 -0.03251249 -0.02265673
+v -0.03474985 -0.03251249 -0.02263238
+v -0.03687202 -0.03251249 -0.02244452
+v -0.03732806 -0.02945849 -0.02240625
+v -0.03732806 -0.01649532 -0.02241663
+v -0.03480535 -0.00865952 -0.02263577
+v -0.03851281 -0.00865952 -0.02223918
+v -0.03851281 -0.01130972 0.01269891
+v -0.02618879 -0.01130972 0.01235450
+v -0.02618879 -0.01082640 0.01225709
+v -0.02618879 -0.03133117 0.01025667
+v -0.03605162 -0.03251261 0.01188130
+v -0.03732806 -0.03251249 -0.02240278
+v -0.03771534 -0.03251249 -0.02234711
+v -0.03851281 -0.03251249 -0.02223231
+v -0.03851281 -0.02827005 -0.02223577
+v -0.03732806 -0.01130959 -0.02241313
+v -0.03851281 -0.01908936 -0.02224270
+v -0.03851281 -0.01390362 -0.02224268
+v -0.03732806 -0.00865952 -0.02240964
+v -0.03738356 -0.00865952 -0.02240269
+v -0.03851281 -0.01250050 0.01269890
+v -0.02618879 -0.02686692 0.01249359
+v -0.02618879 -0.03096226 0.01066023
+v -0.03715795 -0.03251261 0.01220135
+v -0.02618879 -0.03017775 0.01151603
+v -0.03851281 -0.03251262 0.01256315
+v -0.03851281 -0.02805770 0.01269537
+v -0.03851281 -0.03064940 0.01265361
+v -0.02618879 -0.02888190 0.01219440
+f 1 2 7
+f 1 7 16
+f 1 16 26
+f 1 26 38
+f 1 38 51
+f 1 51 53
+f 1 53 41
+f 1 41 40
+f 1 40 39
+f 1 39 29
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+f 1 17 8
+f 1 8 3
+f 1 3 4
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+f 1 6 2
+f 2 6 14
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+f 2 36 35
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+f 2 15 7
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+f 43 47 46
+f 48 54 49
+f 49 54 55
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+f 49 53 56
+f 51 52 53
+f 52 56 53
+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_44.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671cb1ef0ff060f710fb35830108a115da8d639b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_44.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.02310100 0.00536772 0.01224139
+v 0.02199060 0.00425082 0.01224139
+v 0.02310100 0.00415067 0.01220695
+v 0.02310100 0.00684384 0.01223796
+v 0.01425280 0.00425081 0.01231027
+v 0.01941134 0.00425081 0.01226894
+v 0.01941134 0.00285743 0.01197619
+v 0.02199060 0.00289444 0.01194863
+v 0.02310100 0.00333205 0.01202785
+v 0.02310100 0.01706133 0.01220010
+v 0.01167572 0.00425081 0.01232405
+v 0.01167572 0.00277252 0.01202785
+v 0.01425280 0.00279647 0.01201407
+v 0.01683207 0.00282477 0.01199685
+v 0.00651718 -0.00075015 0.01079141
+v 0.02310100 0.00291186 0.01193486
+v 0.02199060 0.01707657 0.01220010
+v 0.00651718 0.01721591 0.01221043
+v 0.00135865 0.00425081 0.01234127
+v 0.00909645 0.00425081 0.01233094
+v 0.02310100 0.01835893 0.01183504
+v 0.01941134 0.01840683 0.01185915
+v 0.01425280 0.01847214 0.01188670
+v 0.01231616 0.01849609 0.01189703
+v 0.01060030 0.01851351 0.01190392
+v 0.00909645 0.00275728 0.01203818
+v 0.00393792 -0.00075015 0.01081897
+v 0.00909645 -0.00075015 0.01074320
+v 0.01325169 -0.00075015 0.01055033
+v 0.01425280 -0.00075015 0.01049867
+v 0.01683207 -0.00075015 0.01032646
+v 0.01941134 -0.00075015 0.01012671
+v 0.02207366 -0.00075014 0.00951366
+v 0.02310100 -0.00075014 0.00910381
+v 0.01683207 0.01714407 0.01220010
+v 0.00135865 0.01721591 0.01221043
+v 0.01425280 0.01717672 0.01220010
+v 0.01154676 0.01746629 0.01214155
+v 0.00909645 0.01851787 0.01190736
+v 0.00651718 0.01852222 0.01191081
+v 0.00393792 0.01852440 0.01191425
+v 0.00077285 0.00425081 0.01233782
+v 0.00077285 0.00390900 0.01227238
+v 0.00077285 0.00274857 0.01204162
+v 0.00393792 0.00274857 0.01204162
+v 0.02310100 0.01874865 0.01129432
+v 0.02310100 0.01925593 0.01057451
+v 0.01941134 0.01928423 0.01059861
+v 0.01683207 0.01930165 0.01061239
+v 0.01425280 0.01931471 0.01062617
+v 0.01154676 0.01916231 0.01089136
+v 0.00909645 0.01933431 0.01064339
+v 0.00135865 -0.00075015 0.01083274
+v 0.02310100 -0.00075003 -0.02283657
+v 0.00077285 0.01669121 0.01220699
+v 0.00135865 0.01852004 0.01191081
+v 0.00077285 0.01828273 0.01196247
+v 0.00077285 0.01727252 0.01219321
+v 0.00651718 0.01933866 0.01064339
+v 0.00077285 -0.00075015 0.01082930
+v 0.00128433 -0.00075015 0.01083274
+v 0.02310100 0.02010504 0.00812232
+v 0.01167572 0.02148973 0.00665516
+v 0.00078815 0.02148973 0.00669648
+v 0.01425280 -0.00075003 -0.02284345
+v 0.02310100 0.00054321 -0.02283657
+v 0.00077285 0.01851787 0.01190736
+v 0.00393792 0.01930600 0.01064339
+v 0.00077285 0.01901861 0.01106357
+v 0.00077285 0.02148973 0.00669648
+v 0.00077285 -0.00075003 -0.02284001
+v 0.01442767 0.02148973 0.00577003
+v 0.02310100 0.02148977 -0.00630836
+v 0.01700475 0.02148974 0.00324896
+v 0.00077285 -0.00034290 -0.02284001
+v 0.00135865 0.00165793 -0.02284000
+v 0.01683207 0.02148983 -0.02283649
+v 0.01773918 0.02148983 -0.02283649
+v 0.02310100 0.02148983 -0.02283304
+v 0.00077285 0.01923198 0.01069849
+v 0.00077285 0.02148983 -0.02283304
+f 1 2 3
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+f 1 54 66
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+f 18 36 19
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+f 44 53 45
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+f 50 52 51
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+f 52 64 59
+f 54 65 66
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+f 59 69 67
+f 59 64 70
+f 59 70 68
+f 62 72 63
+f 62 73 74
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+f 63 74 73
+f 63 73 79
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+f 63 78 77
+f 63 77 81
+f 63 81 70
+f 63 70 64
+f 65 71 75
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+f 65 77 78
+f 65 78 79
+f 65 79 66
+f 68 70 80
+f 68 80 69
+f 75 81 76
+f 76 81 77
+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_45.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f20cb8ca11e7f8b1e0f4e887ba22d05e01a10a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_45.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04005105 -0.00870285 0.01293935
+v 0.04005105 -0.00092776 0.01293588
+v 0.02989797 -0.00387673 0.01202232
+v 0.02989797 -0.00498480 0.01202231
+v 0.03575624 -0.00870284 0.01184729
+v 0.04005105 -0.00870272 -0.02206617
+v 0.04005105 0.00078590 0.01227434
+v 0.04004508 0.00078590 0.01293238
+v 0.02989797 -0.00258011 0.01181581
+v 0.02989797 -0.00870284 0.01016719
+v 0.04003316 -0.00870272 -0.02206967
+v 0.04005105 -0.00094249 -0.02206614
+v 0.04005105 0.00078603 -0.02132410
+v 0.03747476 0.00078591 0.01219034
+v 0.02989797 -0.00251137 0.01173530
+v 0.03486667 0.00078591 0.01083576
+v 0.02989797 -0.00870272 -0.02281522
+v 0.03746581 -0.00870272 -0.02243370
+v 0.03746581 -0.00352923 -0.02243368
+v 0.04004508 0.00078603 -0.02206614
+v 0.02989797 -0.00157606 0.01055573
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_46.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf3300e27eadfcd6b3a7e0864e4bb142294ac18a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_46.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_5.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bfd6f95da3ba6331a1e16bcb0533df5e2e67321
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_5.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_6.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..373cd183ce8573f1a18abb6400ef55d50b79cf90
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_6.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_7.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff3c3612dd3a35c4265135b92413dcb4c4a147fb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_7.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_8.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf9cb59707d086f978738ff070c5be7a02624c2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_8.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_9.obj b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0933fbd9f45fc2d1426c1a682351f9e6f1690bbe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/mesh/soap_dish_032_collision_9.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/soap_dish_032.xml b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/soap_dish_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..77ef56f2d24fb511f224fd19702b609e5e635afb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mjcf/soap_dish_032.xml
@@ -0,0 +1,108 @@
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/soap_dish_032.urdf b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/soap_dish_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d92fda27c72f9ddfad90c5d55697501e4200b6d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/soap_dish_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_032">
+   <link name="soap_dish_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>9b79e9fe84a15e59b681acf2184c4fe0</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>gray soap dish</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>gray rectangular soap dish with rounded corners, slotted top, and four short feet</description>
+         <min_height>0.0621</min_height>
+         <max_height>0.0621</max_height>
+         <real_height>0.0621</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170234</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059930 -0.078362 -0.029177</min>
+            <max>0.060070 0.079092 0.032963</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/9b79e9fe84a15e59b681acf2184c4fe0/soap_dish_032.usd b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/soap_dish_032.usd
new file mode 100644
index 0000000000000000000000000000000000000000..897deddebf034189ec6004736d3f5c1da6c9c6d5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/soap_dish_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17ce27d4124c330a17c438a1a2800a606fe1a11a551b9342a31563224ab37205
+size 4906545
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/textures/material_0.png b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5eb31127b6706e5e4e3ca3755746213c03416e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e32cf224ba896da26c305e8c6e99e0f7f3ed79f0552b38d1bda3d79c52fafc4
+size 8708401
diff --git a/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/video.mp4 b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5b27f337550dfbfd58d2767aae34b44b41852f1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8cd5968b29ee4d2172a3a74b5d7c63248a5fce15e02c65f41f8d1981407fd8
+size 191976