diff --git a/.gitattributes b/.gitattributes
index c9e4d8862a7805141791087cb9c35c8cb161e3d4..61b1c308db97596b17d3f5cb1de8bfdc0163ad5b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2339,3 +2339,5 @@ dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/sh
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/shampoo_bottle_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/soap_dish_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c7811b777f9a01310b04e14fc2591f1ea652409
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_024_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddf558171b83b269d6bb2c7a26ed498763703d03
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.glb b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c6f4ea944e6934685bb9488e017334559d770db0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.glb
@@ -0,0 +1,3 @@
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+size 13372568
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.mtl b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..978d0fd543bfde49a218c83808784b256e2ccddd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_024_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f67f0b5e4b761fc47b19a9aac10fa1199851b2a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.obj
@@ -0,0 +1,116366 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_024_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024_collision.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86fa1ce8c35f38622ed8f44ee6b4a2347b61d655
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024_collision.obj
@@ -0,0 +1,19195 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc99b31191bde268a29d0cd6ef58523e867155a4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision.obj
@@ -0,0 +1,19195 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_0.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4030acd2046fcd9e59cbf21145362abeecaf1bc0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_0.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_1.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25a890bf7c1fff7bcf98034522238e5bf995e178
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_1.obj
@@ -0,0 +1,769 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_10.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df45a7846ace93da1e17aa3f6ce493c02bdc4028
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_10.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_11.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807fa174c8b61cebbc85701c7ff60aa3f3dd0b5a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_11.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_12.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5460d4372057540e59d95c21b59e447932f6a0dc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_12.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_13.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..018ef772ae3109a4d5d4a7de936e0921f26c1e8d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_13.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_14.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..248369c87a927ae8421e164c552c218d2feb321e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_14.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_15.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d497c9d24f3214fe4d073d79e933cc1ee0f7a092
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_15.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_16.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..401077534f59dc945b18545910571b17dd70ad60
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_16.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+v -0.04122335 -0.04350267 0.01813230
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_17.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a6cacfa4a28be6f640494ac25613728fa1d391
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_17.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02682134 -0.02239065 0.00130365
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_18.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0adb279e798340cea7060d63c1a8bfc493e767e6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_18.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_19.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a78c24b8b07cc28e5376f602d8aa42835c183aa7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_19.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_2.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b0085631a125f752a3cc4e46bdea68927b6adb7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_2.obj
@@ -0,0 +1,820 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_20.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d98319eab7276ed831564e4d40622a05af197788
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_20.obj
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_21.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bade11d1d12186507ee4def5e1839fd1aebad3de
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_21.obj
@@ -0,0 +1,67 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_22.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dd78d3cf90962425a1812a3bc160d5a77c7abfc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_22.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_23.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6ddb46b07d5734b97dc9cb0b38f3c2b1ebda68
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_23.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_24.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53af85d36a904c05477f824a9c2710c4b07248bc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_24.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_25.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40af49b0576bbbaceb49827d006cfb7a7f4ae528
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_25.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_26.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c96eb6e24a023954278e79ef0c5a0614020773
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_26.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_27.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27b10010061a80aa7cfa76e143f7b3130129965a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_27.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_28.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545c6108712e1c6a7ffb67d01e270e2da88de9b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_28.obj
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_29.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c8c8bbf452b760f7b3266095df101a2efd21c45
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_29.obj
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_3.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7b0ac4c144e5bca5f30a04a24ba93dc84aab34
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_3.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_30.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18616bfc26acd81cab04ffdbcfbd4f7d9969e6cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_30.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00533131 0.00856588 0.00130308
+v 0.00643487 0.00856587 0.00389475
+v 0.00533131 0.00857018 0.00396325
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_31.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b75d3353bc53ac83739d11423fd21388ee73892
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_31.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v -0.03445475 0.05525362 0.00522044
+v -0.03445475 0.02533733 0.00130314
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_32.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4a1ded207a23ba4174c308a7c227ed5d0fe95f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_32.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02859971 -0.02866944 0.00390583
+v 0.02859971 -0.02866943 0.00130294
+v 0.02859557 -0.02866945 0.00413252
+v 0.02859971 -0.03122550 0.00762206
+v 0.02859971 -0.05363349 0.00130285
+v -0.01367939 -0.02866943 0.00130294
+v 0.02427082 -0.02866946 0.00757382
+v 0.02859557 -0.03122550 0.00762366
+v 0.02859971 -0.03281117 0.00810436
+v 0.02859971 -0.05464994 0.00130446
+v 0.02859557 -0.05464994 0.00130285
+v -0.01367939 -0.05478818 0.00130285
+v -0.01367939 -0.02866945 0.00501274
+v 0.02370384 -0.02866946 0.00771852
+v 0.02223053 -0.02866946 0.00808427
+v 0.02859971 -0.04272902 0.00951509
+v 0.02859971 -0.05567997 0.00619191
+v 0.02647251 -0.05575044 0.00619191
+v 0.02442395 -0.05476920 0.00130285
+v -0.01367939 -0.05584531 0.00619190
+v -0.01170118 -0.05479089 0.00130285
+v -0.01367939 -0.02948803 0.00619200
+v -0.00556789 -0.02866946 0.00772656
+v 0.02011161 -0.02866946 0.00816787
+v 0.02859971 -0.05618143 0.00951504
+v 0.02001229 -0.02866946 0.00816787
+v -0.00119762 -0.02866946 0.00816707
+v -0.01367939 -0.04294587 0.00951509
+v 0.02859971 -0.05602421 0.00822244
+v 0.02647251 -0.05609198 0.00822244
+v 0.02435359 -0.05579381 0.00619191
+v 0.02223053 -0.05581820 0.00619190
+v 0.02308721 -0.05478276 0.00130285
+v -0.01367939 -0.05618684 0.00822244
+v -0.01170118 -0.05584802 0.00619190
+v -0.00321722 -0.05479360 0.00130285
+v -0.01367939 -0.03069694 0.00765984
+v -0.00331654 -0.02866946 0.00815340
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+v -0.00321722 -0.02866946 0.00815582
+v -0.01367939 -0.03281117 0.00815500
+v -0.01367939 -0.05634948 0.00951504
+v 0.02570275 -0.05626545 0.00951504
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+v 0.01798855 -0.05584260 0.00619190
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+v -0.01170118 -0.05618956 0.00822244
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+v -0.00321722 -0.05585073 0.00619190
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+v 0.01798855 -0.05618414 0.00822244
+v 0.01586963 -0.05618956 0.00822244
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+v 0.01162765 -0.05619769 0.00822244
+v -0.00822896 -0.05635490 0.00951504
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+v 0.01721879 -0.05634677 0.00951504
+v 0.01297681 -0.05635761 0.00951504
+v 0.00526675 -0.05635761 0.00951504
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_33.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98634c0f8597daf7c0664ed276dba27bb274c09d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_33.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02783286 0.02434102 0.00130314
+v 0.02783286 0.02434100 0.00456921
+v 0.02783286 0.03080655 0.00130316
+v 0.05574146 0.02434102 0.00130314
+v 0.02783286 0.03080653 0.00440766
+v 0.03465306 0.02434099 0.00767049
+v 0.03488135 0.03080652 0.00770427
+v 0.05497955 0.03080655 0.00130316
+v 0.05574146 0.02444293 0.00130314
+v 0.05682870 0.02434099 0.00822274
+v 0.03478147 0.02434099 0.00771952
+v 0.03490989 0.03080652 0.00771231
+v 0.05577571 0.03080653 0.00416087
+v 0.05577857 0.03080336 0.00416328
+v 0.05558737 0.02638816 0.00130315
+v 0.05567583 0.02531838 0.00130314
+v 0.05622658 0.03080336 0.00619222
+v 0.05635785 0.02868342 0.00619222
+v 0.05668602 0.02868341 0.00822276
+v 0.05677163 0.02656348 0.00822275
+v 0.05698280 0.02434099 0.00951534
+v 0.04365059 0.02434099 0.00951534
+v 0.04311411 0.03080335 0.00951536
+v 0.04311411 0.03080652 0.00951536
+v 0.05622373 0.03080653 0.00618980
+v 0.05656046 0.03080652 0.00822034
+v 0.05684012 0.02868341 0.00951536
+v 0.05692573 0.02656348 0.00951535
+v 0.05671456 0.03080652 0.00951536
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+f 1 16 9
+f 1 9 4
+f 1 4 10
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_34.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4031653dd0aeb94af70b739ecb6a46aab5d42569
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_34.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01367847 0.02533589 0.00446716
+v -0.01448178 0.02367826 0.00740412
+v -0.01367847 0.02384205 0.00619763
+v -0.01367847 0.02533591 0.00130314
+v -0.01622060 0.02533588 0.00762177
+v -0.01367847 0.02238492 0.00770372
+v -0.01367847 0.01091289 0.00130309
+v -0.03445475 0.02533591 0.00130314
+v -0.01806720 0.02533588 0.00808664
+v -0.01367847 0.02020064 0.00815782
+v -0.01367847 0.01091288 0.00389611
+v -0.03445475 0.01091289 0.00130309
+v -0.03445475 0.02533589 0.00569985
+v -0.01806720 0.02444212 0.00813030
+v -0.02018834 0.02533588 0.00816523
+v -0.01382490 0.02020064 0.00815917
+v -0.01367847 0.01808131 0.00815648
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+v -0.01887457 0.01091286 0.00807718
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+v -0.01367847 0.01587444 0.00770840
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+v -0.03445475 0.01808131 0.00816051
+v -0.02099572 0.01091286 0.00816115
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+v -0.03445475 0.01446390 0.00765331
+v -0.02230949 0.01091286 0.00815779
+v -0.03445475 0.01654087 0.00807720
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+f 1 18 11
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+f 20 34 35
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+f 25 37 26
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+f 29 39 40
+f 34 41 35
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+f 42 43 44
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_35.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2efa9e547aafc0f17f0f89ca5e0db0cfe83ff28
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_35.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01367939 0.00013023 0.00806390
+v -0.01367939 -0.00085935 0.00796445
+v -0.01367939 0.00013026 0.00130305
+v -0.01481190 0.00013023 0.00815059
+v -0.02018703 -0.00736797 0.00816803
+v -0.01806658 -0.00736797 0.00799399
+v -0.01367939 -0.00101572 0.00792951
+v -0.01367939 -0.00736794 0.00130302
+v -0.03126086 0.00013026 0.00130305
+v -0.01693235 0.00013023 0.00816403
+v -0.01806658 -0.00100324 0.00816470
+v -0.01806658 0.00013023 0.00816403
+v -0.02442793 0.00013023 0.00815933
+v -0.02442793 -0.00100324 0.00816000
+v -0.02230920 -0.00736797 0.00815997
+v -0.01668623 -0.00736797 0.00751285
+v -0.01367939 -0.00237896 0.00748263
+v -0.01367939 -0.00736795 0.00377392
+v -0.03126086 -0.00736794 0.00130302
+v -0.03126086 0.00013023 0.00798931
+v -0.02654837 0.00013023 0.00811430
+v -0.03126086 -0.00013699 0.00792816
+v -0.03126086 -0.00114786 0.00769498
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+v -0.01367939 -0.00243182 0.00745373
+v -0.03126086 -0.00736795 0.00339290
+v -0.03126086 -0.00150170 0.00757334
+v -0.03126086 -0.00210367 0.00724945
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+f 24 28 26
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_36.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4060ea92853ede6d5f7653f8fcba78c41f5e0330
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_36.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.03126086 -0.02642993 0.00130363
+v -0.01367939 -0.02642993 0.00130363
+v -0.03126086 -0.02642994 0.00342324
+v -0.03126086 -0.00737054 0.00130370
+v -0.01367939 -0.02642994 0.00382848
+v -0.01367939 -0.00737054 0.00130370
+v -0.02424721 -0.02642996 0.00767859
+v -0.03126086 -0.01993502 0.00768802
+v -0.03126086 -0.00737055 0.00339306
+v -0.01662427 -0.02642996 0.00754082
+v -0.01367939 -0.02133439 0.00728815
+v -0.01367939 -0.00737055 0.00377344
+v -0.02422828 -0.02642996 0.00768329
+v -0.02230920 -0.02642996 0.00815708
+v -0.03126086 -0.01849088 0.00805227
+v -0.02413533 -0.00737057 0.00768134
+v -0.03126086 -0.01236165 0.00747366
+v -0.01805282 -0.02642996 0.00801662
+v -0.01367939 -0.02025968 0.00773641
+v -0.01668623 -0.00737057 0.00751266
+v -0.01367939 -0.01204259 0.00759195
+v -0.02018703 -0.02642996 0.00816581
+v -0.03126086 -0.01796658 0.00815711
+v -0.02230920 -0.00737057 0.00815984
+v -0.03126086 -0.01372743 0.00795014
+v -0.01806658 -0.02642996 0.00802065
+v -0.01367939 -0.01796658 0.00816248
+v -0.01806658 -0.00737057 0.00799384
+v -0.01367939 -0.01372743 0.00807043
+v -0.01367939 -0.01782105 0.00816316
+v -0.01367939 -0.01584701 0.00816451
+v -0.02018703 -0.00948641 0.00816790
+v -0.03126086 -0.01584701 0.00815913
+v -0.02018703 -0.00737057 0.00816790
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 26
+f 1 26 22
+f 1 22 14
+f 1 14 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 23
+f 1 23 33
+f 1 33 25
+f 1 25 17
+f 1 17 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 12
+f 2 12 21
+f 2 21 29
+f 2 29 31
+f 2 31 30
+f 2 30 27
+f 2 27 19
+f 2 19 11
+f 2 11 5
+f 3 7 8
+f 4 9 16
+f 4 16 24
+f 4 24 34
+f 4 34 28
+f 4 28 20
+f 4 20 12
+f 4 12 6
+f 5 11 10
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 17 16
+f 10 11 19
+f 10 19 18
+f 12 20 21
+f 14 22 23
+f 14 23 15
+f 16 17 25
+f 16 25 24
+f 18 19 27
+f 18 27 26
+f 20 28 29
+f 20 29 21
+f 22 26 27
+f 22 27 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 24 25 33
+f 24 33 34
+f 28 34 29
+f 29 34 31
+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_37.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b39e99a3118093f041dd9fe2c2849f363387cb50
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_37.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.02653373 0.02534037 0.00130314
+v -0.01367847 0.02534037 0.00130314
+v -0.02653373 0.02534035 0.00549123
+v -0.02653373 0.05487368 0.00130325
+v -0.01367847 0.02534035 0.00446712
+v -0.01367847 0.05493164 0.00130325
+v -0.02607066 0.02534035 0.00650409
+v -0.02653373 0.03238806 0.00768740
+v -0.02653373 0.05591709 0.00619232
+v -0.02442852 0.05594760 0.00619232
+v -0.02442852 0.05490114 0.00130325
+v -0.01622033 0.02534034 0.00762226
+v -0.01367847 0.03290062 0.00767775
+v -0.01478456 0.05493164 0.00130325
+v -0.01367847 0.05556928 0.00416337
+v -0.02548804 0.02534034 0.00715361
+v -0.02653373 0.03278774 0.00778065
+v -0.02653373 0.05624658 0.00822286
+v -0.02442852 0.05628319 0.00822286
+v -0.02230695 0.05596895 0.00619232
+v -0.02320918 0.05490724 0.00130325
+v -0.02018663 0.05598421 0.00619232
+v -0.01806632 0.02534034 0.00808688
+v -0.01367847 0.03303487 0.00771553
+v -0.01367847 0.03504545 0.00816008
+v -0.01367847 0.04318847 0.00951541
+v -0.01689354 0.05492859 0.00130325
+v -0.01382444 0.05556928 0.00416337
+v -0.01367847 0.05600862 0.00619232
+v -0.02445746 0.02534034 0.00772997
+v -0.02653373 0.04307863 0.00951541
+v -0.02653373 0.03504545 0.00816168
+v -0.02653373 0.05640218 0.00951546
+v -0.02442852 0.05644184 0.00951546
+v -0.02365715 0.05645099 0.00951546
+v -0.02230695 0.05646625 0.00951546
+v -0.02230695 0.05630455 0.00822286
+v -0.02018663 0.05632285 0.00822286
+v -0.02112913 0.05491639 0.00130325
+v -0.01594601 0.05600251 0.00619232
+v -0.02018663 0.02534034 0.00816566
+v -0.01367847 0.05650591 0.00951546
+v -0.01806632 0.05492554 0.00130325
+v -0.01382444 0.05600862 0.00619232
+v -0.02018663 0.05491944 0.00130325
+v -0.01367847 0.05634726 0.00822286
+v -0.02376033 0.02534034 0.00790602
+v -0.02230695 0.02534034 0.00815762
+v -0.02141226 0.02534034 0.00816245
+v -0.02153558 0.05647235 0.00951546
+v -0.01941653 0.05648456 0.00951546
+v -0.01806632 0.05649066 0.00951546
+v -0.01806632 0.05633201 0.00822286
+v -0.01594601 0.05649981 0.00951546
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 41
+f 1 41 49
+f 1 49 48
+f 1 48 47
+f 1 47 30
+f 1 30 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 32
+f 1 32 31
+f 1 31 33
+f 1 33 18
+f 1 18 9
+f 1 9 4
+f 1 4 11
+f 1 11 21
+f 1 21 39
+f 1 39 45
+f 1 45 43
+f 1 43 27
+f 1 27 14
+f 1 14 6
+f 1 6 2
+f 2 6 15
+f 2 15 29
+f 2 29 46
+f 2 46 42
+f 2 42 26
+f 2 26 25
+f 2 25 24
+f 2 24 13
+f 2 13 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 13 12
+f 6 14 28
+f 6 28 15
+f 7 16 8
+f 8 16 17
+f 9 18 19
+f 9 19 10
+f 10 19 37
+f 10 37 20
+f 10 20 11
+f 11 20 22
+f 11 22 21
+f 12 13 24
+f 12 24 25
+f 12 25 26
+f 12 26 23
+f 14 27 28
+f 15 28 44
+f 15 44 29
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 18 33 34
+f 18 34 19
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 20 37 38
+f 20 38 22
+f 21 22 39
+f 22 38 53
+f 22 53 40
+f 22 40 39
+f 23 26 41
+f 26 42 54
+f 26 54 52
+f 26 52 51
+f 26 51 50
+f 26 50 36
+f 26 36 35
+f 26 35 34
+f 26 34 33
+f 26 33 31
+f 26 31 41
+f 27 43 28
+f 28 40 44
+f 28 43 45
+f 28 45 39
+f 28 39 40
+f 29 44 46
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 41
+f 36 50 38
+f 36 38 37
+f 38 50 51
+f 38 51 52
+f 38 52 54
+f 38 54 53
+f 40 53 46
+f 40 46 44
+f 42 46 54
+f 46 53 54
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_38.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5bcb5fea2ac631c8f954a63e99d6db6b9a2a54a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_38.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.05738533 -0.00228958 0.00951524
+v -0.05733367 -0.00312416 0.00903533
+v -0.05738376 -0.00441632 0.00951523
+v -0.05738376 0.00013096 0.00951525
+v -0.05733211 0.00013096 0.00904017
+v -0.05718809 -0.00100521 0.00802249
+v -0.05718809 -0.00312416 0.00802006
+v -0.05718809 -0.00524570 0.00802488
+v -0.05718652 -0.01160774 0.00805621
+v -0.05733211 -0.00524570 0.00904015
+v -0.05718809 0.00013096 0.00802490
+v -0.05737750 -0.00948619 0.00951522
+v -0.04443946 0.00013096 0.00951525
+v -0.05612831 -0.00522747 0.00130303
+v -0.05612205 -0.01157911 0.00130301
+v -0.05718340 -0.01372408 0.00807629
+v -0.05732741 -0.01160774 0.00907148
+v -0.05612049 -0.01243449 0.00130300
+v -0.05610327 -0.02087127 0.00130297
+v -0.05610483 0.00013099 0.00130305
+v -0.05612362 -0.00390411 0.00130304
+v -0.05737437 -0.01160774 0.00951521
+v -0.04139319 0.00013096 0.00828535
+v -0.04412325 -0.02642996 0.00951515
+v -0.05732428 -0.01372408 0.00909156
+v -0.05717870 -0.01584563 0.00810683
+v -0.05732115 -0.01584563 0.00912210
+v -0.05736967 -0.01372408 0.00951520
+v -0.05608448 -0.02302921 0.00130297
+v -0.05716774 -0.02008612 0.00817917
+v -0.05717400 -0.01796457 0.00813978
+v -0.04139319 0.00013099 0.00130305
+v -0.04139319 -0.02642476 0.00832464
+v -0.05711608 -0.02642996 0.00951515
+v -0.04139789 -0.02642996 0.00832464
+v -0.05731645 -0.01796457 0.00915505
+v -0.05735715 -0.01727039 0.00951519
+v -0.05736498 -0.01510985 0.00951519
+v -0.05606570 -0.02435778 0.00130296
+v -0.05712861 -0.02432661 0.00822256
+v -0.05718496 -0.02210107 0.00841790
+v -0.05730549 -0.02132629 0.00922497
+v -0.05731019 -0.02008612 0.00919444
+v -0.04139319 -0.02642993 0.00130295
+v -0.04139319 -0.02642996 0.00809956
+v -0.05725540 -0.02642996 0.00951354
+v -0.05727732 -0.02553038 0.00951516
+v -0.05734776 -0.01944393 0.00951518
+v -0.05601717 -0.02639613 0.00130295
+v -0.05708477 -0.02642996 0.00822255
+v -0.05708634 -0.02642996 0.00823300
+v -0.05728828 -0.02432661 0.00939377
+v -0.05729923 -0.02273805 0.00929170
+v -0.05733367 -0.02158888 0.00951517
+v -0.05733837 -0.02097530 0.00951517
+v -0.05601404 -0.02642993 0.00130295
+v -0.05730080 -0.02432661 0.00951516
+v -0.05732271 -0.02255865 0.00951517
+f 1 2 3
+f 1 3 12
+f 1 12 22
+f 1 22 28
+f 1 28 38
+f 1 38 37
+f 1 37 48
+f 1 48 55
+f 1 55 54
+f 1 54 58
+f 1 58 57
+f 1 57 47
+f 1 47 34
+f 1 34 24
+f 1 24 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 5 11
+f 2 11 6
+f 3 10 12
+f 4 13 23
+f 4 23 32
+f 4 32 20
+f 4 20 11
+f 4 11 5
+f 6 14 7
+f 6 11 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 16 25
+f 9 25 17
+f 9 17 10
+f 9 15 18
+f 9 18 19
+f 9 19 16
+f 10 17 12
+f 11 20 21
+f 11 21 14
+f 12 17 22
+f 13 24 23
+f 14 21 20
+f 14 20 32
+f 14 32 44
+f 14 44 56
+f 14 56 49
+f 14 49 39
+f 14 39 29
+f 14 29 19
+f 14 19 18
+f 14 18 15
+f 16 19 26
+f 16 26 27
+f 16 27 25
+f 17 25 28
+f 17 28 22
+f 19 29 30
+f 19 30 31
+f 19 31 26
+f 23 24 33
+f 23 33 45
+f 23 45 44
+f 23 44 32
+f 24 34 46
+f 24 46 51
+f 24 51 50
+f 24 50 56
+f 24 56 44
+f 24 44 45
+f 24 45 35
+f 24 35 33
+f 25 27 28
+f 26 31 36
+f 26 36 27
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 29 39 40
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 36
+f 30 36 31
+f 33 35 45
+f 34 47 46
+f 36 43 48
+f 36 48 37
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 52
+f 40 52 53
+f 40 53 41
+f 41 53 42
+f 42 54 55
+f 42 55 43
+f 42 53 54
+f 43 55 48
+f 46 47 51
+f 47 57 52
+f 47 52 51
+f 49 56 50
+f 52 57 53
+f 53 58 54
+f 53 57 58
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_39.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..018dd1110452a520a782b6335ac0b286cf2092af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_39.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02859971 -0.02858362 0.00130295
+v 0.02859971 -0.02858363 0.00407063
+v 0.02859971 -0.02239065 0.00130297
+v 0.05506585 -0.02858362 0.00130295
+v 0.02859971 -0.02239067 0.00429412
+v 0.03488806 -0.02858365 0.00769602
+v 0.05583904 -0.02239065 0.00130297
+v 0.05563044 -0.02624647 0.00130295
+v 0.05538291 -0.02858363 0.00229170
+v 0.03487138 -0.02239068 0.00774910
+v 0.03490197 -0.02858365 0.00770165
+v 0.05685418 -0.02239068 0.00822257
+v 0.05580844 -0.02440586 0.00130296
+v 0.05568607 -0.02573600 0.00130296
+v 0.05635634 -0.02858364 0.00619201
+v 0.05591135 -0.02856848 0.00416307
+v 0.05590856 -0.02858364 0.00416307
+v 0.03491310 -0.02858365 0.00770406
+v 0.04337914 -0.02858365 0.00951515
+v 0.04372402 -0.02239068 0.00951517
+v 0.05687643 -0.02239068 0.00839781
+v 0.05682359 -0.02432829 0.00822256
+v 0.05677075 -0.02644839 0.00822255
+v 0.05669009 -0.02856849 0.00822255
+v 0.05635912 -0.02858364 0.00620728
+v 0.05684306 -0.02858365 0.00951515
+v 0.05701271 -0.02239068 0.00951517
+v 0.05697934 -0.02432829 0.00951516
+v 0.05692650 -0.02644839 0.00951515
+v 0.05684584 -0.02856849 0.00951515
+v 0.05669009 -0.02858365 0.00823219
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 15
+f 1 15 25
+f 1 25 31
+f 1 31 26
+f 1 26 19
+f 1 19 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 5 10
+f 3 10 20
+f 3 20 27
+f 3 27 21
+f 3 21 12
+f 3 12 7
+f 4 8 9
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+f 6 11 10
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 10 11 18
+f 10 18 19
+f 10 19 20
+f 12 21 22
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+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 15
+f 13 15 14
+f 15 17 16
+f 19 26 30
+f 19 30 29
+f 19 29 28
+f 19 28 27
+f 19 27 20
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 24 31 25
+f 26 31 30
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_4.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..276382648c48b9f32fd7542a6797f8f89c486211
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_4.obj
@@ -0,0 +1,757 @@
+# https://github.com/mikedh/trimesh
+v 0.00738616 0.05690636 0.01634578
+v 0.00738616 0.05680382 0.01837582
+v 0.00950335 0.05680245 0.01837582
+v 0.00950335 0.05690362 0.01634578
+v 0.01162786 0.05686399 0.01431573
+v 0.00738616 0.05686946 0.01431573
+v 0.00314447 0.05687082 0.01431573
+v -0.00110456 0.05687219 0.01431573
+v -0.01169781 0.05690636 0.01634578
+v -0.00321442 0.05614218 0.02040586
+v 0.01162786 0.05614218 0.02040586
+v -0.01169781 0.05680245 0.01837582
+v 0.01374505 0.05613945 0.02040586
+v 0.01162786 0.05679835 0.01837582
+v 0.01374505 0.05679288 0.01837582
+v 0.01162786 0.05689679 0.01634578
+v 0.01162786 0.05683938 0.01383872
+v 0.00950335 0.05684348 0.01383872
+v 0.01586956 0.05688312 0.01634578
+v 0.01374505 0.05685715 0.01431573
+v 0.01374505 0.05683391 0.01383872
+v 0.00787700 0.05684485 0.01383872
+v -0.00060639 0.05684758 0.01383872
+v -0.00533893 0.05684895 0.01383872
+v -0.00958062 0.05687219 0.01431573
+v -0.01169781 0.05687082 0.01431573
+v -0.01382232 0.05690362 0.01634578
+v -0.00321442 0.05538621 0.02159039
+v 0.00314447 0.05538758 0.02159124
+v 0.00738616 0.05538758 0.02159208
+v -0.00745611 0.05614082 0.02040586
+v 0.01162786 0.05538758 0.02159208
+v 0.01374505 0.05538621 0.02159124
+v -0.01382232 0.05679972 0.01837582
+v -0.01169781 0.05613808 0.02040586
+v -0.00958062 0.05613945 0.02040586
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_40.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa1ce9cd45bc6ae14ae1ff3524e0b9c12c595536
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_40.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_41.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e60094bdc4c8acb6627c0c3a1c2fac7a5dd1a54
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_41.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_42.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a6c040b2d828694f78c2975cb8868be6e48b8ea
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_42.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_43.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49586ee773e10973a6df003db0256e057479b172
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_43.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_44.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9fba6be0b43c62e68314ae86e56529a255b6420
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_44.obj
@@ -0,0 +1,430 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_45.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427e1fbf3ee6e2a5d92f2e3130d1ab5bf2bc25b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_45.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_46.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d68a37aa9d348489a756e6a132177c02569251f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_46.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_47.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..defc204b3ad019b4793e0e7443c70146d869b5f2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_47.obj
@@ -0,0 +1,1201 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_48.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd02d101112d85ce810529eb5f8fbe01dc8b01a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_48.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_49.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9991ea9b3284ba5a1ccbf06f858baaf2722f689a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_49.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_5.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7ed6c1367ef878d84132c3891806cf355abff6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_50.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e296b61e108556dde27bdcf3247b189d0f5008c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_50.obj
@@ -0,0 +1,103 @@
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+v -0.01367847 0.00538198 0.00767534
+v -0.00519555 0.00856478 0.00770154
+v -0.00109478 0.00856478 0.00816227
+v -0.01367847 0.00111759 0.00816291
+v 0.02011021 0.00013096 0.00816358
+v 0.00216185 0.00013096 0.00816224
+v 0.02336684 0.00013096 0.00816224
+v -0.00533855 0.00013096 0.00816022
+v -0.01367847 0.00323864 0.00815284
+v -0.00321666 0.00856478 0.00814883
+v -0.00434219 0.00856478 0.00793795
+v -0.00212805 0.00856478 0.00816092
+f 1 2 5
+f 1 5 9
+f 1 9 12
+f 1 12 11
+f 1 11 21
+f 1 21 20
+f 1 20 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 25
+f 1 25 34
+f 1 34 33
+f 1 33 35
+f 1 35 26
+f 1 26 16
+f 1 16 10
+f 1 10 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 14
+f 3 14 8
+f 5 6 9
+f 6 10 11
+f 6 11 12
+f 6 12 9
+f 7 13 22
+f 7 22 30
+f 7 30 28
+f 7 28 17
+f 7 17 29
+f 7 29 31
+f 7 31 23
+f 7 23 14
+f 8 14 23
+f 8 23 27
+f 8 27 32
+f 8 32 24
+f 8 24 15
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 13 19 22
+f 15 24 25
+f 16 26 27
+f 16 27 17
+f 17 28 18
+f 17 27 29
+f 18 28 30
+f 18 30 19
+f 19 30 22
+f 23 31 27
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 26 35 27
+f 27 35 32
+f 27 31 29
+f 32 35 33
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_51.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f7456e0682f55f740aef171bed1bcda3983365
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_51.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00809148 0.02434037 0.00454994
+v 0.00809148 0.02254290 0.00715060
+v 0.00809148 0.02434039 0.00130314
+v 0.00264899 0.02434036 0.00747367
+v 0.00809148 0.02209158 0.00767650
+v 0.00809148 0.01101600 0.00130309
+v -0.01367847 0.02434039 0.00130314
+v 0.00102306 0.02434036 0.00794652
+v 0.00809148 0.02092937 0.00799554
+v 0.00809148 0.01101599 0.00352561
+v -0.01367847 0.01101600 0.00130309
+v -0.01367847 0.02434037 0.00549027
+v -0.00109938 0.02434036 0.00816414
+v 0.00809148 0.02020151 0.00815337
+v 0.00809148 0.01613311 0.00768522
+v 0.00112109 0.01101597 0.00760997
+v -0.01367847 0.01101599 0.00389906
+v -0.01367847 0.02398427 0.00600744
+v -0.00564686 0.02434036 0.00774973
+v 0.00809148 0.01808057 0.00815875
+v 0.00809148 0.01878494 0.00815740
+v -0.00120167 0.02434036 0.00816414
+v -0.00746031 0.01808057 0.00816479
+v -0.00109938 0.01101597 0.00816207
+v 0.00030919 0.01101597 0.00781550
+v -0.00496921 0.01101597 0.00766236
+v -0.01367847 0.01485611 0.00708474
+v -0.01367847 0.02384209 0.00619752
+v -0.00331985 0.02434036 0.00815877
+v -0.01367847 0.02238507 0.00770337
+v -0.00321756 0.02434036 0.00816078
+v -0.01367847 0.02020151 0.00815807
+v -0.00746031 0.02020151 0.00816345
+v -0.01367847 0.01808057 0.00815673
+v -0.00321756 0.01101597 0.00814192
+v -0.01367847 0.01587484 0.00770805
+v -0.01367847 0.01595180 0.00772887
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 21
+f 1 21 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 29
+f 1 29 31
+f 1 31 22
+f 1 22 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 11
+f 3 11 7
+f 4 8 5
+f 5 8 9
+f 6 10 16
+f 6 16 25
+f 6 25 24
+f 6 24 35
+f 6 35 26
+f 6 26 17
+f 6 17 11
+f 7 11 17
+f 7 17 27
+f 7 27 36
+f 7 36 37
+f 7 37 34
+f 7 34 32
+f 7 32 30
+f 7 30 28
+f 7 28 18
+f 7 18 12
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 12 18 19
+f 13 20 21
+f 13 21 14
+f 13 22 23
+f 13 23 24
+f 13 24 20
+f 15 20 24
+f 15 24 25
+f 15 25 16
+f 17 26 27
+f 18 28 19
+f 19 28 30
+f 19 30 29
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 32
+f 23 32 34
+f 23 34 24
+f 24 34 35
+f 26 35 36
+f 26 36 27
+f 29 30 32
+f 29 32 31
+f 34 37 35
+f 35 37 36
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_52.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d76995247465ca26083d411c1f8f4da8803bc00b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_52.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00545323 0.02434039 0.00130314
+v 0.00545323 0.02434037 0.00455158
+v 0.00545323 0.03028664 0.00130316
+v 0.02783001 0.02434039 0.00130314
+v 0.00545323 0.03028662 0.00419693
+v 0.01160876 0.02434036 0.00763006
+v 0.01185848 0.03028661 0.00758911
+v 0.02783001 0.03028664 0.00130316
+v 0.02783001 0.02434037 0.00456904
+v 0.01162847 0.02434036 0.00763947
+v 0.01375114 0.03028661 0.00807140
+v 0.02783001 0.03028662 0.00415260
+v 0.02437984 0.02434036 0.00763208
+v 0.02410602 0.03028661 0.00757567
+v 0.01364819 0.02434036 0.00810161
+v 0.01375114 0.02434036 0.00810765
+v 0.01587163 0.03028661 0.00816208
+v 0.02372486 0.03028661 0.00770935
+v 0.02432946 0.02434036 0.00764753
+v 0.01576867 0.02434036 0.00816274
+v 0.01798992 0.03028661 0.00816410
+v 0.02223308 0.03028661 0.00806267
+v 0.02223308 0.02434036 0.00810698
+v 0.01798992 0.02434036 0.00816274
+v 0.02011259 0.02868305 0.00816544
+v 0.01959342 0.03028661 0.00816477
+v 0.02171610 0.03028661 0.00811238
+v 0.02011259 0.03028661 0.00816477
+v 0.02011259 0.02434036 0.00816139
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 19
+f 1 19 23
+f 1 23 29
+f 1 29 24
+f 1 24 20
+f 1 20 16
+f 1 16 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 11
+f 3 11 17
+f 3 17 21
+f 3 21 26
+f 3 26 28
+f 3 28 27
+f 3 27 22
+f 3 22 18
+f 3 18 14
+f 3 14 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 6 10 7
+f 7 10 11
+f 9 12 14
+f 9 14 13
+f 10 15 11
+f 11 16 17
+f 11 15 16
+f 13 14 18
+f 13 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 21 25 26
+f 22 27 23
+f 23 27 28
+f 23 28 25
+f 23 25 29
+f 24 29 25
+f 25 28 26
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_53.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bed6c520d770d1892a65918dcbf63501c5a771e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_53.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00736689 -0.02866943 0.00130294
+v 0.00736689 -0.02866945 0.00418796
+v 0.00736689 -0.02239065 0.00130297
+v 0.02859971 -0.02866943 0.00130294
+v 0.00736689 -0.02239251 0.00433919
+v 0.01169410 -0.02866946 0.00758707
+v 0.00736689 -0.02239067 0.00432844
+v 0.02859971 -0.02239065 0.00130297
+v 0.02859971 -0.02866944 0.00390570
+v 0.01167124 -0.02239068 0.00767917
+v 0.01171488 -0.02866946 0.00759379
+v 0.02859971 -0.02239067 0.00429417
+v 0.02859971 -0.02856865 0.00405961
+v 0.02859556 -0.02866945 0.00413285
+v 0.01364986 -0.02866946 0.00808638
+v 0.01375170 -0.02239068 0.00811061
+v 0.02428705 -0.02239068 0.00766774
+v 0.02427043 -0.02866946 0.00757430
+v 0.01375170 -0.02866946 0.00809445
+v 0.01577190 -0.02866946 0.00816636
+v 0.01587166 -0.02239068 0.00816034
+v 0.02415612 -0.02239068 0.00771210
+v 0.02370719 -0.02866946 0.00771811
+v 0.01587166 -0.02856867 0.00816637
+v 0.01781080 -0.02239068 0.00816370
+v 0.01587166 -0.02644829 0.00816435
+v 0.02001181 -0.02866946 0.00816770
+v 0.02011157 -0.02856867 0.00816838
+v 0.02223361 -0.02239068 0.00810120
+v 0.02223361 -0.02866946 0.00808437
+v 0.01799162 -0.02644829 0.00816637
+v 0.01799162 -0.02432852 0.00816503
+v 0.02011157 -0.02239068 0.00816370
+v 0.02011157 -0.02866946 0.00816770
+v 0.02205071 -0.02239068 0.00811867
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 23
+f 1 23 30
+f 1 30 34
+f 1 34 27
+f 1 27 20
+f 1 20 19
+f 1 19 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 10
+f 3 10 16
+f 3 16 21
+f 3 21 25
+f 3 25 33
+f 3 33 35
+f 3 35 29
+f 3 29 22
+f 3 22 17
+f 3 17 12
+f 3 12 8
+f 4 8 12
+f 4 12 13
+f 4 13 9
+f 5 6 10
+f 5 10 7
+f 6 11 10
+f 9 13 14
+f 10 11 15
+f 10 15 16
+f 12 17 18
+f 12 18 14
+f 12 14 13
+f 15 19 16
+f 16 19 20
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 20 24 25
+f 20 25 26
+f 20 26 21
+f 20 27 28
+f 20 28 24
+f 21 26 25
+f 22 29 30
+f 22 30 23
+f 24 31 32
+f 24 32 25
+f 24 28 31
+f 25 32 28
+f 25 28 33
+f 27 34 28
+f 28 35 33
+f 28 32 31
+f 28 34 30
+f 28 30 35
+f 29 35 30
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_54.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f605a954164eb75271f764e9b6bb249bb8e2c1e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_54.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.03976933 0.00013096 0.00823456
+v 0.03976933 -0.00100300 0.00823524
+v 0.03976933 0.00013099 0.00130305
+v 0.02682134 0.00013096 0.00806828
+v 0.03976933 -0.00754601 0.00823657
+v 0.03976933 -0.00754598 0.00130302
+v 0.02682134 0.00013099 0.00130305
+v 0.02682134 -0.00065808 0.00799295
+v 0.03708086 -0.00754601 0.00808590
+v 0.02682134 -0.00754598 0.00130302
+v 0.02682134 -0.00082190 0.00795630
+v 0.03691101 -0.00754601 0.00804314
+v 0.02682134 -0.00103156 0.00790879
+v 0.02682134 -0.00228425 0.00750631
+v 0.02682134 -0.00754599 0.00374700
+v 0.03550277 -0.00754601 0.00760403
+v 0.02682134 -0.00241125 0.00743777
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 3 6 10
+f 3 10 7
+f 4 7 10
+f 4 10 15
+f 4 15 17
+f 4 17 14
+f 4 14 13
+f 4 13 11
+f 4 11 8
+f 4 8 9
+f 4 9 5
+f 5 9 12
+f 5 12 16
+f 5 16 15
+f 5 15 10
+f 5 10 6
+f 8 11 9
+f 9 11 13
+f 9 13 14
+f 9 14 12
+f 12 14 16
+f 14 17 16
+f 15 16 17
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_55.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbb717c67601b3c7300ecec45602ee2a33bb9f3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_55.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01367847 0.01091288 0.00389618
+v -0.01367847 0.00538260 0.00767530
+v -0.01367847 0.01091289 0.00130309
+v -0.01661377 0.01091286 0.00753899
+v -0.01367847 0.00323804 0.00815281
+v -0.01367847 0.00013099 0.00130305
+v -0.02850006 0.01091289 0.00130309
+v -0.01715788 0.01091286 0.00772166
+v -0.01367847 0.00111775 0.00816287
+v -0.01806618 0.01091286 0.00801919
+v -0.01887437 0.01091286 0.00807762
+v -0.02018749 0.01091286 0.00816358
+v -0.01382502 0.00323804 0.00815415
+v -0.01367847 0.00013096 0.00806415
+v -0.02850006 0.00013099 0.00130305
+v -0.02850006 0.01091288 0.00355903
+v -0.01693298 0.00013096 0.00816422
+v -0.01481167 0.00013096 0.00815078
+v -0.02018749 0.00959889 0.00816358
+v -0.02230735 0.01091286 0.00815821
+v -0.02850006 0.00128767 0.00816153
+v -0.02850006 0.00013096 0.00796475
+v -0.02850006 0.00526228 0.00758396
+v -0.02483928 0.01091286 0.00723743
+v -0.02850006 0.00111775 0.00816153
+v -0.01806618 0.00013096 0.00816354
+v -0.02304154 0.01091286 0.00797755
+v -0.02850006 0.00343751 0.00811251
+v -0.02850006 0.00323804 0.00814676
+v -0.02654997 0.00013096 0.00811452
+v -0.02850006 0.00024178 0.00798691
+v -0.02850006 0.00511031 0.00767665
+v -0.02439093 0.01091286 0.00763839
+v -0.02442866 0.00013096 0.00815951
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 24
+f 1 24 33
+f 1 33 27
+f 1 27 20
+f 1 20 12
+f 1 12 11
+f 1 11 10
+f 1 10 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 15
+f 3 15 7
+f 4 8 5
+f 5 8 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 9
+f 6 14 18
+f 6 18 17
+f 6 17 26
+f 6 26 34
+f 6 34 30
+f 6 30 22
+f 6 22 15
+f 7 15 22
+f 7 22 31
+f 7 31 25
+f 7 25 21
+f 7 21 29
+f 7 29 28
+f 7 28 32
+f 7 32 23
+f 7 23 16
+f 9 13 12
+f 9 12 17
+f 9 17 18
+f 9 18 14
+f 12 19 17
+f 12 20 21
+f 12 21 25
+f 12 25 19
+f 16 23 24
+f 17 19 25
+f 17 25 26
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 22 30 31
+f 23 32 33
+f 23 33 24
+f 25 31 30
+f 25 30 34
+f 25 34 26
+f 27 33 28
+f 28 33 32
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_56.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2f63b0e55710310860b942a5568cce16a514816
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_56.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00435820 -0.00746143 0.00384956
+v 0.00435820 -0.00746142 0.00130302
+v 0.00186691 -0.00746144 0.00674415
+v 0.00435820 -0.01198143 0.00760284
+v 0.00435820 -0.02238919 0.00130297
+v -0.01367939 -0.00746142 0.00130302
+v 0.00081636 -0.00746145 0.00768684
+v 0.00435820 -0.01372629 0.00806510
+v 0.00435820 -0.02238921 0.00542312
+v -0.01367939 -0.02238919 0.00130297
+v -0.01367939 -0.00746143 0.00380253
+v -0.00109757 -0.00746145 0.00816255
+v 0.00435820 -0.01584526 0.00816319
+v 0.00435820 -0.02205455 0.00617365
+v 0.00382322 -0.02238921 0.00618574
+v -0.01367939 -0.02238921 0.00548292
+v -0.01367939 -0.01204281 0.00759209
+v -0.00494839 -0.00746145 0.00766937
+v -0.00119468 -0.00746145 0.00816255
+v -0.00109757 -0.00948543 0.00816456
+v 0.00435820 -0.01675276 0.00816252
+v -0.00533859 -0.01372629 0.00816723
+v 0.00435820 -0.02147587 0.00712574
+v 0.00281505 -0.02238922 0.00746237
+v -0.00548867 -0.02238922 0.00775801
+v -0.01367939 -0.02194788 0.00624621
+v -0.01367939 -0.01372629 0.00807048
+v -0.00321985 -0.00746145 0.00814709
+v -0.00331872 -0.00746145 0.00812559
+v -0.01367939 -0.01584526 0.00816453
+v 0.00435820 -0.01796569 0.00815982
+v -0.00109757 -0.02238922 0.00815914
+v -0.01367939 -0.01796569 0.00816251
+v 0.00435820 -0.02134727 0.00732866
+v 0.00271794 -0.02238922 0.00752956
+v -0.00321985 -0.02238922 0.00815511
+v -0.01367939 -0.02133411 0.00728834
+v -0.01367939 -0.02191426 0.00630400
+v 0.00435820 -0.01887319 0.00808927
+v -0.00321985 -0.02220655 0.00815645
+v 0.00083932 -0.02238922 0.00800191
+v -0.01367939 -0.02026002 0.00773652
+v 0.00435820 -0.02093370 0.00759272
+v 0.00103177 -0.02238922 0.00795622
+v 0.00435820 -0.02015188 0.00779296
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 29
+f 1 29 28
+f 1 28 19
+f 1 19 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
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+f 1 31 39
+f 1 39 45
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+f 14 24 15
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+f 17 29 18
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+f 21 22 32
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+f 22 30 33
+f 22 33 32
+f 23 34 24
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+f 25 38 26
+f 27 30 28
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+f 33 36 40
+f 34 43 35
+f 35 43 44
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+f 39 41 45
+f 41 44 43
+f 41 43 45
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_57.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c86f22489b438c4d718590443465ea3e30f24efa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_57.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02682133 0.00013022 0.00806791
+v 0.02682133 0.00013025 0.00130305
+v 0.02548825 0.00013022 0.00815188
+v 0.02011169 -0.00746071 0.00816461
+v 0.02223346 -0.00746071 0.00798928
+v 0.02682133 -0.00065831 0.00799267
+v 0.02682133 -0.00746068 0.00130302
+v 0.00716947 0.00013025 0.00130305
+v 0.02336648 0.00013022 0.00816196
+v 0.02011169 -0.00524378 0.00816530
+v 0.01587200 -0.00746071 0.00816596
+v 0.02362425 -0.00746071 0.00751097
+v 0.02682133 -0.00103139 0.00790870
+v 0.02682133 -0.00746069 0.00372077
+v 0.00716947 -0.00746068 0.00130302
+v 0.00716947 0.00013022 0.00794094
+v 0.02011169 0.00013022 0.00816330
+v 0.02223346 -0.00100314 0.00816330
+v 0.02011169 -0.00312346 0.00816531
+v 0.01577389 -0.00746071 0.00816058
+v 0.01798992 -0.00100314 0.00816464
+v 0.01587200 -0.00312346 0.00816463
+v 0.01375023 -0.00100314 0.00816330
+v 0.01163038 0.00013022 0.00814382
+v 0.01163038 -0.00100314 0.00812232
+v 0.00950861 0.00013022 0.00805246
+v 0.02682133 -0.00241149 0.00743777
+v 0.02682133 -0.00228366 0.00750629
+v 0.00716947 -0.00746069 0.00335331
+v 0.00716947 0.00003583 0.00791877
+v 0.01375023 -0.00746071 0.00794360
+v 0.01798992 0.00013022 0.00816397
+v 0.01700502 0.00013022 0.00816397
+v 0.01488517 0.00013022 0.00816330
+v 0.01375023 0.00013022 0.00816263
+v 0.01241330 -0.00746071 0.00746394
+v 0.00716947 -0.00122090 0.00762117
+v 0.01367521 -0.00746071 0.00792143
+f 1 2 8
+f 1 8 16
+f 1 16 26
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+f 1 35 34
+f 1 34 33
+f 1 33 32
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+f 1 17 9
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+f 11 16 20
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+f 17 19 18
+f 17 32 19
+f 19 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 23
+f 21 23 22
+f 23 34 35
+f 23 35 24
+f 24 26 25
+f 29 36 37
+f 30 37 31
+f 31 37 38
+f 36 38 37
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_58.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45943356f3822a3d2a88cf375f4e63cf1cdc93ec
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_58.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01367847 0.02434039 0.00130314
+v -0.01367847 0.02434037 0.00549026
+v -0.01367847 0.03028664 0.00130316
+v 0.00545103 0.02434039 0.00130314
+v -0.01367847 0.03028662 0.00454160
+v -0.00564730 0.02434036 0.00774978
+v -0.00532523 0.03028661 0.00771620
+v 0.00545103 0.03028664 0.00130316
+v 0.00545103 0.02434037 0.00455166
+v -0.00332165 0.02434036 0.00815895
+v -0.00321866 0.03028661 0.00815023
+v 0.00545103 0.03028662 0.00419693
+v 0.00264977 0.02434036 0.00747364
+v -0.00321866 0.02434036 0.00816096
+v -0.00321866 0.02444280 0.00816096
+v -0.00109899 0.03028661 0.00816166
+v 0.00234268 0.03028661 0.00733592
+v 0.00102256 0.02434036 0.00794664
+v 0.00217228 0.03028661 0.00747836
+v 0.00104690 0.03028661 0.00782841
+v -0.00120010 0.02434036 0.00816432
+v -0.00109899 0.02656322 0.00816702
+v 0.00050575 0.03028661 0.00797286
+v -0.00109899 0.02434036 0.00816432
+f 1 2 5
+f 1 5 3
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+f 1 4 9
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+f 1 18 24
+f 1 24 21
+f 1 21 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
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+f 2 7 5
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+f 3 12 8
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+f 10 15 11
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+f 13 20 18
+f 14 21 22
+f 14 22 15
+f 15 22 16
+f 16 22 18
+f 16 18 23
+f 18 20 23
+f 18 22 24
+f 21 24 22
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_59.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f1ef0c0b8d40f7117ef1df532a7faf2b212774
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_59.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00716947 0.00013022 0.00794091
+v 0.00716947 0.00003583 0.00791875
+v 0.00716947 0.00013025 0.00130305
+v 0.00427765 0.00013022 0.00811818
+v -0.00109783 -0.00746071 0.00816315
+v 0.00716947 -0.00122090 0.00762127
+v 0.00716947 -0.00746068 0.00130302
+v -0.01367939 0.00013025 0.00130305
+v 0.00215725 0.00013022 0.00816250
+v 0.00081440 -0.00746071 0.00768705
+v -0.00533862 0.00013022 0.00815982
+v -0.00533862 -0.00100314 0.00815848
+v -0.00119579 -0.00746071 0.00816247
+v 0.00716947 -0.00746069 0.00335381
+v -0.01367939 -0.00746068 0.00130302
+v -0.01367939 0.00013022 0.00806379
+v -0.00322027 -0.00746071 0.00814703
+v -0.01367939 -0.00746069 0.00380305
+v -0.01367939 -0.00085897 0.00796441
+v -0.00331618 -0.00746071 0.00812554
+v -0.01367939 -0.00101504 0.00792949
+v -0.01367939 -0.00237879 0.00748226
+v -0.00494883 -0.00746071 0.00766959
+v -0.01367939 -0.00243155 0.00745405
+f 1 2 6
+f 1 6 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 11
+f 1 11 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 16 19 17
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+f 18 23 24
+f 20 22 23
+f 22 24 23
+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_6.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfec8d69066a716c04595864fd53d4997be57203
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_6.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
+v -0.05716567 0.03434071 0.01634556
+v -0.05712053 0.03434072 0.01431559
+v -0.05710883 0.03434071 0.01743176
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+v -0.05709211 0.03434072 0.01383864
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_60.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a38f5ca7fedf97a7412e84027e019915e00b9e2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_60.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_61.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b3180b7503a814e27ac4bc9d4db4318e4da8944
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_61.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_7.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a268bb023455316b2d3aa35325932fd3d156bf0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_7.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_8.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a082301915dcba74af00c8925374eb546f0e6d7a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_8.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_9.obj b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f0772081c914508a7498d1c4c407a7e75c35ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/mesh/soap_dish_024_collision_9.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/soap_dish_024.xml b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/soap_dish_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..829c94efa5ae5b4427b43a0f5d841fd109b26084
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mjcf/soap_dish_024.xml
@@ -0,0 +1,138 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_024">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_024_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_024_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_024_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_024_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_024_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_024_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_024_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_024_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_024_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_024_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_024_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_024_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_024_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_024_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_024_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_024_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_024_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soap_dish_024_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/soap_dish_024_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/soap_dish_024_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/soap_dish_024_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/soap_dish_024_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/soap_dish_024_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/soap_dish_024_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/soap_dish_024_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/soap_dish_024_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/soap_dish_024_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/soap_dish_024_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/soap_dish_024_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/soap_dish_024_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/soap_dish_024_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_58" file="mesh/soap_dish_024_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/soap_dish_024_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/soap_dish_024_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/soap_dish_024_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_024">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" 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/863a0138dd7a52aba65006e27931b85c/soap_dish_024.urdf b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a540d02489a2fcd9894eccb3e9851e4210fd519
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_024">
+   <link name="soap_dish_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_024.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_024_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>863a0138dd7a52aba65006e27931b85c</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>perforated soap dish</name>
+         <color>gray,pink</color>
+         <shape>cuboid</shape>
+         <material>ceramic</material>
+         <description>rounded rectangular soap dish with drainage holes and flat base</description>
+         <min_height>0.0344</min_height>
+         <max_height>0.0344</max_height>
+         <real_height>0.0344</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518150543</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.064509 -0.062790 -0.011708</min>
+            <max>0.064434 0.062906 0.022668</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.usd b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3852848277b66fff3dcdba90ceda4a82941db3a27eef79af9b335b501f32a1e7
+size 4998251
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/textures/material_0.png b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/textures/material_0.png
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+++ b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/textures/material_0.png
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+size 9900772
diff --git a/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/video.mp4 b/dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/video.mp4
new file mode 100644
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--- /dev/null
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+oid sha256:ed39b282fb689a7bec867d745ec31db748266b1d64d1556d2abf96fb282c016e
+size 245508