diff --git a/.gitattributes b/.gitattributes
index 2829b2022bb0c9b1e79e65886bb72ed8889c398f..af5875685782f187d458eb32c59da3c2d494d69e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2387,5 +2387,5 @@ dataset/bathroom_supplies/bath_products/b226cee5521d578ebdff0812f2bc7ba1/lotion_
 dataset/bathroom_supplies/bath_products/b226cee5521d578ebdff0812f2bc7ba1/mesh/lotion_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/shampoo_bottle_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/soap_dish_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a15c4352888ef4d271852e18665109f788048ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_040_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd soap_dish_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..295e4972b0ccf8a5c72d34b0e823a3d334839af1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:273a322d9f5daeb5abe7ea3f9b6f51e835aee1254139c7c14132c05ebe0b5962
+size 10346163
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040.glb b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ea11b15f4923b3f46ae703b50a696c281e0cbb47
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fab04b4462e65ea364a56d204de105652614fb38bd4075e9ffa0842653418d79
+size 13852484
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040.mtl b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6a4c72abc59dbe184f7117e1b5d1866e46033057
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_040_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3359fd26b67dd0021be4a373adbbc38d5f86a92
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040.obj
@@ -0,0 +1,114432 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_040_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040_collision.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f00c375fd5a54d7badaa3a6ef4d68953fe06c071
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mesh/soap_dish_040_collision.obj
@@ -0,0 +1,25572 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545eb6543522da507cf10b0595e3158379222743
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_0.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60c34b649354fe052ab139988a49e3c3c9daebc4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_0.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_1.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f429ed14fb91baadd8634d7c025b11c13f5db58
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_10.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b169d0beb123a456a44953b4f0c5ba7b1132fd5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_10.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.05594052 0.03989116 -0.03826821
+v 0.05623968 0.03989116 -0.03824923
+v 0.05623968 0.02758504 -0.03808979
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+v 0.06012163 0.03989115 -0.03497024
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_11.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b496cfff1f35cbea3a9b18b4f201ebd9e0890d28
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_11.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02741928 -0.05244233 -0.03702885
+v -0.03003361 -0.05244233 -0.03700822
+v -0.02741928 -0.05129558 -0.03702885
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_12.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a16fc482fdc8de112225b4d95bff7e7c741e8fe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_12.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.06022547 0.01411846 -0.01921265
+v -0.06022547 0.01445379 -0.02405271
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_13.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1156dafce3af9a5eb0982fc44362d18f658ffb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_13.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_14.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a51458bc0b74a9a84eb869bdedc11ac5c08877a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_14.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03009591 -0.00615901 -0.02015107
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_15.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499176964c53154ec0cd59b822ef2a5cc9c9ab44
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_15.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.05683937 -0.04006559 -0.03833084
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_16.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101a7ba626aa2bcf19716bc44f69660888abb89f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_16.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_17.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60fb7f4bf699fee1d8cb7d5470e0d3d3add4f51a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_17.obj
@@ -0,0 +1,1117 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_18.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b5cd3b5d58cff7314c2cf97981b9673c7f1759
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_18.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_19.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce3c577a7d10d296f5d89aa1a727346d36a5506
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_19.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_2.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c6e24483e45e0807a1f4a1f2450f36cd9d837d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_20.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5272fc3d08bebefbd2507794992efaceff85b4ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_20.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_21.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..921dfb68e92726054743ba9bd8595a5b5d5b3fbd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_21.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_22.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de57bc8fbf0691df94b4854c04868ac5c5624056
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_22.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_23.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea367ff94f645adac5b6baae9298b0869572fe4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_23.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_24.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852f609500127e553488c4bc37801f82f0ffd415
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_24.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_25.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35103f294d301ffad38292cd78a4625ebe9f1045
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_25.obj
@@ -0,0 +1,133 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_26.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16023e7b6023f08ec9fd473a8c2c65f4d489ba4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_26.obj
@@ -0,0 +1,1096 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_27.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b047e3b425032c1d293dc0884a48a4e400be16f1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_27.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_28.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97d7def7db2d1f9d907a82681841fe2fb44f9ed1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_28.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_29.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..111f6ff39e5d5612e29ecb0ff0a68b95e94e5832
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_29.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_3.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2550e718c2dacd43d6fda8dc605fbff5ac16db6a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_3.obj
@@ -0,0 +1,757 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_30.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b017de02383aaaee26ab44e806bc3cc73b40749
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_30.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_31.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c3f8be5b76000805f3157d8a29679216b470b45
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_31.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_32.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e55a230fbcf1febea61bcf3edcc3fe4bbfa65267
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_32.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_33.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60b29973ed2e989597eb81e8d9cd57a1fcc99c1d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_33.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_34.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dd8f07f4c5fcd1369209f8cc472b2ac243714be
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_34.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_35.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d572f9f0234416a876c0fade362c5cdc4fbce9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_35.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_36.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..248c0c8a0d614037ada970b009c49f392c0dac11
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_36.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_37.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d259be383af97afb5ae429982970cd7fe684985
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_37.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_38.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fddc58407cf19f7aa7d0827386423c051fd517ec
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_38.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_39.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1ba8ac8911d24a421413954279968e646c01eb5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_39.obj
@@ -0,0 +1,1189 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_4.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ce14c9b25845dd4b6e153e33a29ee6e032ceceb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_4.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_40.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1458ecf95f3c6f1f90b85288343054ac080b9ce7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_40.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_41.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be6951074c29e93766a27d9caa8bb07e01d315b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_41.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_42.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad94e5d2c499f0f12117ac343b943b36974010f3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_42.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02287970 0.05725569 -0.02508059
+v 0.02287970 0.04902640 -0.01991820
+v 0.02287970 0.05725573 -0.03441453
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+v 0.02287970 0.04983052 -0.03581505
+v 0.01440890 0.05725573 -0.03529673
+v 0.00619691 0.05725567 -0.01991817
+v 0.02287970 0.03989284 -0.03416253
+v 0.00300358 0.03989278 -0.01991823
+v 0.02287970 0.04864739 -0.03601039
+v 0.01179546 0.05725573 -0.03539125
+v 0.00300358 0.05725569 -0.02402196
+v 0.00300358 0.04960097 -0.01991820
+v 0.02287970 0.04465259 -0.03570164
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_43.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381b44636a1012bb0a644243b75035e3b1398914
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_43.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02287970 0.05127520 0.03234714
+v 0.02287970 0.04864543 0.03215764
+v 0.02287970 0.05725548 0.03234204
+v 0.02225115 0.05127520 0.03235226
+v 0.01963772 0.05127520 0.03236763
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+v 0.02172769 0.03989259 0.03150719
+v 0.02287970 0.03989259 0.03146622
+v 0.01773845 0.05725548 0.03236765
+v 0.02287970 0.05725565 -0.01229085
+v 0.01512501 0.05725548 0.03237789
+v 0.01179546 0.05725548 0.03238813
+v 0.00918203 0.05127520 0.03239836
+v 0.00402132 0.03989259 0.03158402
+v 0.02287970 0.03989278 -0.01991666
+v 0.02287970 0.05725055 -0.01230109
+v 0.01749131 0.05725567 -0.01991660
+v 0.00918203 0.05725548 0.03239325
+v 0.00300358 0.05127520 0.03240348
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+v 0.00300358 0.03989278 -0.01991666
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+v 0.00300358 0.03989259 0.03156865
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+v 0.00300358 0.05725565 -0.01294126
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_44.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a5a5bb12822d904862b02b93b540f1c5b96cad4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_44.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.02173843 -0.07976223 -0.02619033
+v -0.02173843 -0.07974884 -0.02877436
+v -0.01957701 -0.07978099 -0.02405262
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+v -0.01696271 -0.07979439 -0.02146667
+v -0.01755726 -0.07979976 -0.01947070
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+v -0.02173843 -0.07963634 -0.03394242
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_45.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e12a58c69adbfa54a0d0d5d48007cb232f774abf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_45.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
+v 0.00018911 -0.06707745 0.03827119
+v -0.00912123 -0.06707745 0.03827684
+v 0.00018911 -0.06823424 0.03822031
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_46.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fbd06bd98aa2abc1177abc19ab67a5005131235
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_46.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.02198921 -0.00395584 0.03179191
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+v 0.01440953 -0.00395584 0.03185541
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_47.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7eeb768672a536fe86078672c84e4c9a77ac551
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_47.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.02456149 -0.04143185 -0.02114527
+v -0.02456149 -0.00687998 -0.02114515
+v -0.02100525 -0.04143185 -0.02114527
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_48.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ad5f45a26796fc84dd26b2c96e24581948c2234
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_48.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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+v -0.03912633 0.06269246 -0.01977706
+v -0.03002711 0.05811341 -0.01237360
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_49.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b080ca429f143fd520509d7ec65223800056584
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_49.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_5.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20e3e499fe95079575a5dc6578f7c81d6299e503
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_5.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.03580802 0.03989109 -0.02026034
+v 0.03580802 0.03989114 -0.03350429
+v 0.02177660 0.03989109 -0.02026034
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+v 0.03580802 0.02393349 -0.03571842
+v 0.02177660 0.03989115 -0.03407571
+v 0.02177660 0.00634370 -0.02026047
+v 0.03270916 0.00609771 -0.02026047
+v 0.03270916 0.00000673 -0.02438657
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+v 0.03580802 0.00000673 -0.02508878
+v 0.02572848 0.03989115 -0.03436999
+v 0.03009518 0.02455040 -0.03578070
+v 0.02748258 0.02608487 -0.03567014
+v 0.03009518 0.02234436 -0.03583054
+v 0.03580802 0.00663269 -0.03580724
+v 0.03270916 0.00656631 -0.03606415
+v 0.03009518 0.00656631 -0.03616691
+v 0.02311312 0.03989115 -0.03420806
+v 0.02177660 0.02498380 -0.03556583
+v 0.02177660 0.00000673 -0.02449089
+v 0.03009518 0.00600400 -0.02026047
+v 0.03009518 0.00000673 -0.02428536
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+v 0.02748258 0.02476905 -0.03576980
+v 0.03580802 0.00644918 -0.03579011
+v 0.03205807 0.00000677 -0.03583529
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+v 0.03009518 0.00393859 -0.03610308
+v 0.02748258 0.00656631 -0.03606103
+v 0.02547985 0.02433175 -0.03572309
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+v 0.02177660 0.00000677 -0.03464417
+v 0.03336574 0.00000677 -0.03550053
+v 0.03580802 0.00450084 -0.03551296
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+v 0.02819960 0.00000677 -0.03583373
+v 0.02177660 0.00612120 -0.03566088
+v 0.02177660 0.00719103 -0.03572004
+v 0.02177660 0.00594940 -0.03564842
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+f 38 41 39
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_50.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03a9c5b57fc8ea42f026ff6a9f48720872b2ddb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_50.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.04020845 0.05725548 0.03347788
+v 0.02288334 0.05725548 0.03234048
+v 0.02288334 0.05190926 0.03234558
+v 0.02288334 0.05127520 0.03234558
+v 0.04020845 0.03989259 0.03327289
+v 0.04020845 0.05725565 -0.01225909
+v 0.02288334 0.05725565 -0.01228983
+v 0.02288334 0.04864543 0.03216113
+v 0.02748177 0.03989259 0.03209961
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+v 0.04020845 0.04863882 -0.01886324
+v 0.03270950 0.04939698 -0.01886324
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+v 0.03009733 0.05725565 -0.01234619
+v 0.02888793 0.05725565 -0.01234107
+v 0.02288334 0.05725055 -0.01230520
+v 0.02288334 0.03989259 0.03146943
+v 0.02288334 0.03989278 -0.01886327
+v 0.03007867 0.04949898 -0.01886324
+v 0.02288334 0.04874762 -0.01886324
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_51.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea84098b1fa84e8ce52ceaf33a080c8f9855373f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_51.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01819921 -0.06113879 -0.02010141
+v 0.01819921 -0.06113873 -0.03472229
+v 0.00534392 -0.06113879 -0.02010141
+v 0.01819921 -0.07979509 -0.02010148
+v 0.01608369 -0.06113873 -0.03516654
+v 0.01819921 -0.06573978 -0.03637798
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+v 0.01819921 -0.07978960 -0.02146812
+v 0.01440891 -0.06113873 -0.03541632
+v 0.01819921 -0.06826040 -0.03710770
+v 0.00018911 -0.06113873 -0.03576779
+v 0.00018911 -0.06181824 -0.02393550
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+v 0.01702334 -0.07979142 -0.02146812
+v 0.01440891 -0.07979326 -0.02010148
+v 0.01440891 -0.07978960 -0.02146812
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+v 0.00018911 -0.06444846 -0.02387128
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_52.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c6846a4c6fd7633c2961d272709e4ff1e5fe89d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_52.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03008400 -0.05391585 -0.03702029
+v 0.02747850 -0.05129538 -0.03688566
+v 0.03009509 -0.05129538 -0.03699336
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+f 8 35 32
+f 8 32 29
+f 8 29 22
+f 8 22 15
+f 8 15 10
+f 8 10 9
+f 8 20 21
+f 11 19 18
+f 11 18 26
+f 11 26 31
+f 11 31 28
+f 11 28 27
+f 11 27 20
+f 11 20 14
+f 11 14 13
+f 11 13 12
+f 15 22 16
+f 16 22 23
+f 17 25 24
+f 20 27 21
+f 21 27 28
+f 22 29 23
+f 24 25 30
+f 24 30 34
+f 24 34 35
+f 24 35 31
+f 24 31 26
+f 29 32 33
+f 30 33 34
+f 32 35 34
+f 32 34 33
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_53.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0ed6314056dd597fc61cc4276db5758f2e9f2ec
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_53.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02198921 0.00000115 -0.02460900
+v 0.02198921 -0.00566193 -0.02217098
+v 0.02198921 0.00000119 -0.03460352
+v 0.01881180 0.00000114 -0.02217096
+v 0.02198921 -0.01710361 -0.02217102
+v 0.02198921 -0.00581426 -0.03558224
+v 0.01963763 0.00000119 -0.03506945
+v 0.00019124 0.00000114 -0.02217096
+v 0.02198921 -0.01710357 -0.03399307
+v 0.00019124 -0.01710361 -0.02217102
+v 0.02198921 -0.00598003 -0.03560233
+v 0.01689768 0.00000119 -0.03559160
+v 0.00019124 0.00000119 -0.03572816
+v 0.02198921 -0.00975429 -0.03557825
+v 0.01963550 -0.01710356 -0.03465714
+v 0.00019124 -0.01710356 -0.03544171
+v 0.02198921 -0.00725765 -0.03575095
+v 0.01596302 -0.00199143 -0.03570407
+v 0.00081861 0.00000119 -0.03572816
+v 0.01702358 -0.00658619 -0.03584734
+v 0.00133929 -0.00658619 -0.03584332
+v 0.00019124 -0.00658619 -0.03583662
+v 0.02198921 -0.00966890 -0.03559030
+v 0.01702145 -0.01710356 -0.03539351
+v 0.00019124 -0.01350009 -0.03569206
+v 0.00133715 -0.01710356 -0.03555149
+v 0.02198921 -0.00823722 -0.03575095
+v 0.02198921 -0.00848002 -0.03574961
+v 0.01702358 -0.00921344 -0.03582860
+v 0.00133929 -0.00921344 -0.03583798
+v 0.00019124 -0.00805973 -0.03583262
+v 0.01702358 -0.01114913 -0.03573088
+v 0.00019124 -0.00921344 -0.03582592
+v 0.00028940 -0.01350009 -0.03569206
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 23
+f 1 23 28
+f 1 28 27
+f 1 27 17
+f 1 17 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 10
+f 2 10 5
+f 3 6 7
+f 5 10 16
+f 5 16 26
+f 5 26 24
+f 5 24 15
+f 5 15 9
+f 6 11 12
+f 6 12 7
+f 8 13 22
+f 8 22 31
+f 8 31 33
+f 8 33 25
+f 8 25 16
+f 8 16 10
+f 9 15 14
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 14 15 24
+f 14 24 23
+f 16 25 26
+f 17 27 20
+f 17 20 18
+f 18 20 19
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 21 30 22
+f 22 30 31
+f 23 24 28
+f 24 32 28
+f 24 26 32
+f 25 33 30
+f 25 30 34
+f 25 34 26
+f 26 34 29
+f 26 29 32
+f 28 32 29
+f 29 34 30
+f 30 33 31
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_54.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fadf431316b2172e127a08e925baff51a4eccd8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_54.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.02100525 -0.00609315 -0.02114515
+v -0.02100525 0.00000282 -0.02431526
+v -0.02456149 -0.00687998 -0.02114516
+v -0.02100525 -0.04143185 -0.02114528
+v -0.02100525 0.00000286 -0.03469585
+v -0.02456149 0.00000282 -0.02525283
+v -0.02456149 -0.04143185 -0.02114528
+v -0.02100525 -0.04143180 -0.03435174
+v -0.02456149 0.00000286 -0.03544004
+v -0.02100525 -0.00681909 -0.03581070
+v -0.02456149 -0.04143180 -0.03480734
+v -0.02415456 -0.04143180 -0.03477511
+v -0.02100525 -0.02499340 -0.03559542
+v -0.02456149 -0.00436124 -0.03590445
+v -0.02100525 -0.00752887 -0.03581070
+v -0.02456149 -0.00658791 -0.03611100
+v -0.02456149 -0.02668875 -0.03573460
+v -0.02336053 -0.02637644 -0.03569651
+v -0.02456149 -0.02522864 -0.03581955
+v -0.02456149 -0.02499340 -0.03582834
+v -0.02100525 -0.00892003 -0.03580045
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 21
+f 1 21 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 2 6 3
+f 3 6 9
+f 3 9 14
+f 3 14 16
+f 3 16 20
+f 3 20 19
+f 3 19 17
+f 3 17 11
+f 3 11 7
+f 4 7 11
+f 4 11 12
+f 4 12 8
+f 5 10 9
+f 8 12 13
+f 9 10 14
+f 10 15 16
+f 10 16 14
+f 11 17 18
+f 11 18 12
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 16
+f 13 16 21
+f 15 21 16
+f 17 19 18
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_55.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd4ae578d665cc5c74f09fb0f0289ea7f2cbd55
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_55.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.03003510 0.05811350 -0.03726781
+v -0.03003510 0.05127578 -0.03704877
+v -0.03912633 0.04864839 -0.03648245
+v -0.03912633 0.05811349 -0.03532661
+v -0.02898881 0.05811350 -0.03725000
+v -0.02742123 0.05127578 -0.03703809
+v -0.02742123 0.04864840 -0.03692590
+v -0.03003510 0.04864840 -0.03685466
+v -0.03912633 0.04600465 -0.03613341
+v -0.03912633 0.05811345 -0.02521460
+v -0.02742123 0.05811350 -0.03721972
+v -0.02024327 0.04668564 -0.03601052
+v -0.02480737 0.04864839 -0.03663739
+v -0.02024327 0.04601775 -0.03598915
+v -0.02024327 0.04484566 -0.03584313
+v -0.02024327 0.04444950 -0.03576299
+v -0.02480737 0.04601775 -0.03625807
+v -0.03912633 0.04138997 -0.03474966
+v -0.02762457 0.04576729 -0.03616724
+v -0.02480737 0.04138997 -0.03494734
+v -0.03912633 0.04865488 -0.01907583
+v -0.02024327 0.05811345 -0.02361000
+v -0.02644519 0.05811350 -0.03690272
+v -0.02024327 0.04869423 -0.03590010
+v -0.02024327 0.04346895 -0.03543530
+v -0.03912633 0.04138991 -0.01907586
+v -0.02024327 0.04138997 -0.03470870
+v -0.03264897 0.04939480 -0.01907583
+v -0.03003510 0.04955359 -0.01907583
+v -0.02024327 0.04948811 -0.01907583
+v -0.02024327 0.05811349 -0.03474604
+v -0.02024327 0.04138991 -0.01907586
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 22
+f 1 22 31
+f 1 31 23
+f 1 23 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 18
+f 3 18 26
+f 3 26 21
+f 3 21 10
+f 3 10 4
+f 3 8 9
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 9
+f 7 9 8
+f 9 17 19
+f 9 19 20
+f 9 20 18
+f 10 21 22
+f 11 23 24
+f 11 24 12
+f 12 24 31
+f 12 31 22
+f 12 22 30
+f 12 30 32
+f 12 32 27
+f 12 27 25
+f 12 25 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 16 25 20
+f 16 20 17
+f 17 20 19
+f 18 20 27
+f 18 27 32
+f 18 32 26
+f 20 25 27
+f 21 26 32
+f 21 32 30
+f 21 30 29
+f 21 29 28
+f 21 28 22
+f 22 29 30
+f 22 28 29
+f 23 31 24
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_56.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5f7574b7ef358583a9a0d4854937b4a65bf17e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_56.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.03912633 0.04138991 -0.01907409
+v -0.03912633 0.04865488 -0.01907406
+v -0.02264378 0.04138991 -0.01907409
+v -0.03912633 0.04138972 0.03324123
+v -0.03264850 0.04939480 -0.01907406
+v -0.03912633 0.05811341 -0.01239843
+v -0.02264378 0.04882185 -0.01907406
+v -0.02264378 0.04138972 0.03138090
+v -0.02742107 0.04138972 0.03218259
+v -0.02264378 0.05082207 0.03232138
+v -0.02264378 0.05127552 0.03234708
+v -0.03912633 0.05811324 0.03342629
+v -0.03003640 0.04955359 -0.01907406
+v -0.02264378 0.05811341 -0.01265538
+v -0.02980246 0.04953231 -0.01907406
+v -0.02264378 0.04864814 0.03215692
+v -0.02264378 0.05811324 0.03236765
+f 1 2 5
+f 1 5 13
+f 1 13 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 14
+f 3 14 17
+f 3 17 11
+f 3 11 10
+f 3 10 16
+f 3 16 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 6 13
+f 6 14 13
+f 6 12 17
+f 6 17 14
+f 7 15 14
+f 8 16 9
+f 9 16 10
+f 11 17 12
+f 13 14 15
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_57.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64273589002fddaf404614526ef5bec0d67a8948
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_57.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.03003628 -0.00647645 -0.01924705
+v -0.03267934 -0.00658449 -0.01924705
+v -0.02970052 -0.00652275 -0.01924705
+v -0.03003628 0.00000282 -0.02434309
+v -0.03973788 -0.00750128 -0.01924706
+v -0.03264814 0.00000282 -0.02446254
+v -0.02456149 -0.00747041 -0.01924706
+v -0.02871550 0.00000282 -0.02453320
+v -0.03973788 0.00000282 -0.02541815
+v -0.03973788 -0.02359601 -0.01924712
+v -0.02456149 0.00000282 -0.02525328
+v -0.02489280 0.00000282 -0.02514560
+v -0.02610216 0.00000282 -0.02493530
+v -0.02742146 0.00000282 -0.02472163
+v -0.02456149 -0.03153224 -0.01924715
+v -0.03973788 0.00000286 -0.03423741
+v -0.03973788 -0.03153222 -0.02404542
+v -0.03323796 -0.03153224 -0.01924715
+v -0.02456149 0.00000286 -0.03544034
+v -0.02456149 -0.03153218 -0.03500808
+v -0.03194986 0.00000286 -0.03587946
+v -0.03973788 -0.00579729 -0.03560019
+v -0.03973788 -0.03153218 -0.03426782
+v -0.02564011 0.00000286 -0.03584413
+v -0.02456149 -0.00436191 -0.03590471
+v -0.02468778 -0.03153218 -0.03504678
+v -0.02456149 -0.02669204 -0.03573487
+v -0.03101833 0.00000286 -0.03604938
+v -0.03973788 -0.00683446 -0.03579200
+v -0.03003628 0.00000286 -0.03622435
+v -0.02742146 -0.03153218 -0.03510062
+v -0.03973788 -0.02666734 -0.03553971
+v -0.02742146 0.00000286 -0.03618902
+v -0.02456149 -0.00658443 -0.03610997
+v -0.02480663 -0.03153218 -0.03508211
+v -0.02480663 -0.02675377 -0.03574160
+v -0.02480663 -0.02499428 -0.03584590
+v -0.02456149 -0.02522888 -0.03582066
+v -0.03003628 -0.00658752 -0.03643468
+v -0.03973788 -0.00833775 -0.03580210
+v -0.02742146 -0.00658752 -0.03641112
+v -0.02742146 -0.02689577 -0.03577188
+v -0.02615267 -0.03153218 -0.03509389
+v -0.03973788 -0.02566412 -0.03574495
+v -0.02480663 -0.00658752 -0.03613857
+v -0.02456149 -0.00684990 -0.03610661
+v -0.02742146 -0.02499428 -0.03595526
+v -0.02456149 -0.02499428 -0.03582739
+v -0.03973788 -0.02492020 -0.03583581
+v -0.03973788 -0.02523197 -0.03580552
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 8 14
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 19
+f 4 19 24
+f 4 24 33
+f 4 33 30
+f 4 30 28
+f 4 28 21
+f 4 21 16
+f 4 16 9
+f 4 9 6
+f 5 6 9
+f 5 9 16
+f 5 16 22
+f 5 22 29
+f 5 29 40
+f 5 40 49
+f 5 49 50
+f 5 50 44
+f 5 44 32
+f 5 32 23
+f 5 23 17
+f 5 17 10
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 7 15 20
+f 7 20 27
+f 7 27 38
+f 7 38 48
+f 7 48 46
+f 7 46 34
+f 7 34 25
+f 7 25 19
+f 7 19 11
+f 10 17 18
+f 15 18 17
+f 15 17 23
+f 15 23 31
+f 15 31 43
+f 15 43 35
+f 15 35 26
+f 15 26 20
+f 16 21 22
+f 19 25 24
+f 20 26 27
+f 21 28 22
+f 22 28 30
+f 22 30 29
+f 23 32 31
+f 24 25 34
+f 24 34 33
+f 26 35 27
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 29 30 39
+f 29 39 40
+f 30 33 41
+f 30 41 39
+f 31 42 43
+f 31 32 44
+f 31 44 42
+f 33 34 45
+f 33 45 41
+f 34 46 45
+f 35 43 42
+f 35 42 36
+f 36 42 47
+f 36 47 37
+f 37 48 38
+f 37 47 41
+f 37 41 48
+f 39 41 47
+f 39 47 49
+f 39 49 40
+f 41 45 48
+f 42 44 50
+f 42 50 49
+f 42 49 47
+f 45 46 48
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_58.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a3d0b27439810b3f35b1370b7af3b803483d420
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_58.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.03527961 -0.08035037 0.01470870
+v -0.03003527 -0.08035037 0.01472428
+v -0.03527961 -0.08035037 0.01472428
+v -0.03527961 -0.08034428 0.01212183
+v -0.03003527 -0.08034428 0.01213741
+v -0.02849504 -0.08034631 0.01365941
+v -0.02849504 -0.08034834 0.01472428
+v -0.02849504 -0.08034835 0.01730596
+v -0.03527961 -0.08034835 0.01730596
+v -0.03527961 -0.08033213 0.00954016
+v -0.02849504 -0.08033010 0.00955574
+v -0.02849504 -0.08033820 0.01108293
+v -0.02849504 -0.08034225 0.01213741
+v -0.02849504 -0.08034228 0.01883314
+v -0.03264947 -0.08033823 0.01989282
+v -0.03527961 -0.08033823 0.01989282
+v -0.03527961 -0.08031389 0.00695848
+v -0.02849504 -0.08032199 0.00849606
+v -0.02849504 -0.08033620 0.01989282
+v -0.02849504 -0.08032406 0.02141482
+v -0.03003527 -0.08031596 0.02247969
+v -0.03527961 -0.08031596 0.02247969
+v -0.03527961 -0.08028551 0.00438721
+v -0.03526368 -0.08028551 0.00438721
+v -0.03003527 -0.08028349 0.00438721
+v -0.03003527 -0.08030984 0.00697408
+v -0.02849504 -0.08030780 0.00697408
+v -0.02849504 -0.08031394 0.02247969
+v -0.02849504 -0.08028558 0.02400170
+v -0.02849504 -0.08026533 0.02506657
+v -0.03003527 -0.08026533 0.02506657
+v -0.03527961 -0.08026128 0.02506657
+v -0.03527961 -0.08023689 0.00180034
+v -0.03003527 -0.08023891 0.00180034
+v -0.02849504 -0.08023891 0.00180034
+v -0.02849504 -0.08028147 0.00438721
+v -0.02849504 -0.08029767 0.00590920
+v -0.02849504 -0.08016000 0.02658856
+v -0.03003527 -0.08008506 0.02764824
+v -0.03264947 -0.08008303 0.02764824
+v -0.03527961 -0.08007898 0.02764824
+v -0.03527961 -0.07982564 -0.00853674
+v -0.03526368 -0.07982564 -0.00853674
+v -0.02849504 -0.07971221 -0.00853674
+v -0.02849504 -0.08008506 0.02764824
+v -0.02849504 -0.07975691 0.02917024
+v -0.02849504 -0.07952599 0.03023511
+v -0.03003527 -0.07952397 0.03023511
+v -0.03264947 -0.07951991 0.03023511
+v -0.03527961 -0.07951587 0.03021953
+v -0.03527961 -0.07982362 -0.00855233
+v -0.03527961 -0.07933138 -0.01093141
+v -0.02849504 -0.07926049 -0.01036002
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_59.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c605ca9bbf5256827f416d2f14f43cac116f517d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_59.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_6.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..503e14c9149fd72043d95378cc9df95f520a1ed1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_6.obj
@@ -0,0 +1,757 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_60.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0e1c43406fd0fb08893a06b0798f9bdcab97ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_60.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_61.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ffd871bb166ad55312a092ea357923c75e36af6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_61.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_62.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..848f5079e20d8c6f176134acccb330c926898d28
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_62.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_63.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..138a83c430191f026132282ab0abcf98fa64ff07
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_63.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_64.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac8df1e372427cedfc2cc91f994a73deaf3db6d1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_64.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_65.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60aa3335ed90e1f73f85e1445e4f293c345faaf7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_65.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_66.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e902ffbf9554a25ae42977612877d23e6f5665
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_66.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_67.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90daca7194cc635e20c35b6b696c010aec12ab4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_67.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_68.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a22d519bbbd68418055f6eebbb5fcccd22f35c1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_68.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_69.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ae6b6d3a024f434974140f06535e381488bdc7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_69.obj
@@ -0,0 +1,106 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_7.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebfe5f3d4ace5ab24fb45a8c817c289ec36fed51
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_7.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_70.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c09832ff5c98efb4e175f665f6ed8b83c8e26d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_70.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_71.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a54308b556223da77427158b6cf6d05e842a86b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_71.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+f 3 6 10
+f 3 10 14
+f 3 14 19
+f 3 19 22
+f 3 22 20
+f 3 20 16
+f 3 16 15
+f 3 15 11
+f 3 11 7
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 15
+f 8 15 12
+f 9 13 14
+f 9 14 10
+f 12 15 16
+f 12 16 17
+f 13 18 19
+f 13 19 14
+f 16 20 21
+f 16 21 17
+f 18 21 19
+f 19 21 22
+f 20 22 21
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_72.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38262334b917066f278ed675f9cdc6e20421ff46
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_72.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.03794485 -0.04006679 0.03234878
+v 0.03009717 -0.04006679 0.03230281
+v 0.02230460 -0.05129564 0.03231809
+v 0.03793873 -0.05391611 0.03232319
+v 0.03794485 -0.05129564 0.03232320
+v 0.03794485 -0.04006660 -0.01983131
+v 0.02230460 -0.04866568 0.03219551
+v 0.02748229 -0.04006679 0.03210361
+v 0.02230460 -0.05391611 0.03230276
+v 0.03794485 -0.05391611 0.03231297
+v 0.03794485 -0.04765688 -0.01983134
+v 0.02230460 -0.04006660 -0.01983131
+v 0.02230460 -0.04006679 0.03143450
+v 0.02230460 -0.05391594 -0.01231796
+v 0.03794485 -0.05391595 -0.01218005
+v 0.03793873 -0.04880241 -0.01983134
+v 0.03794485 -0.04857737 -0.01887620
+v 0.02230460 -0.04908574 -0.01983134
+v 0.02230460 -0.05391323 -0.01238436
+v 0.02237196 -0.05391594 -0.01235371
+v 0.03270898 -0.05391594 -0.01265506
+v 0.03270898 -0.04954802 -0.01983134
+v 0.03009717 -0.04964698 -0.01983134
+v 0.03009717 -0.05391594 -0.01273168
+v 0.02250362 -0.05391594 -0.01236903
+v 0.03052124 -0.05391594 -0.01272146
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 17
+f 1 17 11
+f 1 11 6
+f 1 6 12
+f 1 12 13
+f 1 13 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 9 4
+f 3 7 13
+f 3 13 12
+f 3 12 18
+f 3 18 19
+f 3 19 14
+f 3 14 9
+f 4 9 14
+f 4 14 20
+f 4 20 25
+f 4 25 24
+f 4 24 26
+f 4 26 21
+f 4 21 15
+f 4 15 10
+f 4 10 5
+f 6 11 16
+f 6 16 22
+f 6 22 23
+f 6 23 18
+f 6 18 12
+f 7 8 13
+f 11 17 16
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 15 16 17
+f 18 23 19
+f 19 24 25
+f 19 25 20
+f 19 23 24
+f 21 26 23
+f 21 23 22
+f 23 26 24
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_73.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe22367da6e9d7bb5ae9c000a825f4dd8ecac430
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_73.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00018911 -0.05965854 0.03263602
+v 0.00018911 -0.05325238 0.03235540
+v -0.00127950 -0.05325238 0.03235540
+v -0.00650815 -0.05325238 0.03235087
+v -0.03527961 -0.05965854 0.03260434
+v 0.00018911 -0.05965837 -0.01274692
+v 0.00018911 -0.05325221 -0.01266995
+v -0.01435113 -0.05325238 0.03233729
+v -0.01629538 -0.05325238 0.03233277
+v -0.01890623 -0.05325238 0.03232372
+v -0.02413488 -0.05325238 0.03230108
+v -0.02674921 -0.05325238 0.03228750
+v -0.03527961 -0.05325238 0.03223319
+v -0.03527961 -0.05965837 -0.01285556
+v -0.00268561 -0.05965837 -0.01360696
+v -0.00272033 -0.05325221 -0.01360694
+v -0.03527961 -0.05325221 -0.01251153
+v -0.03297776 -0.05325221 -0.01290533
+v -0.03264793 -0.05325221 -0.01295060
+v -0.02290236 -0.05965837 -0.01360696
+v -0.02022207 -0.05325221 -0.01360694
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 20
+f 1 20 15
+f 1 15 6
+f 1 6 7
+f 1 7 2
+f 2 7 16
+f 2 16 21
+f 2 21 19
+f 2 19 18
+f 2 18 17
+f 2 17 13
+f 2 13 12
+f 2 12 11
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 17
+f 5 17 14
+f 6 15 16
+f 6 16 7
+f 14 17 18
+f 14 18 19
+f 14 19 20
+f 15 20 21
+f 15 21 16
+f 19 21 20
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_74.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bbf6ae3012664f8f2a3568d261ee32a552571aa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_74.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.02110766 0.04138867 -0.01464676
+v -0.02110766 0.02894288 -0.01464680
+v -0.02110766 0.04138869 -0.01947106
+v -0.03912566 0.04138867 -0.01464676
+v -0.02110766 0.02894290 -0.01947110
+v -0.03400160 0.02894288 -0.01464680
+v -0.03912566 0.04138869 -0.01947106
+v -0.03912566 0.03476188 -0.01464678
+v -0.03318492 0.02894290 -0.01947110
+v -0.03405275 0.02894288 -0.01465105
+v -0.03912566 0.03575001 -0.01947108
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 8 10
+f 8 11 10
+f 9 10 11
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_75.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f988639f13b545e78f31010d3240d84eeb7e4bae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_75.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.02456149 -0.02878704 -0.01451267
+v -0.02456149 -0.04143188 -0.01451271
+v -0.02456149 -0.02878702 -0.01924714
+v -0.03449931 -0.02878704 -0.01451267
+v -0.02456149 -0.04143186 -0.01924718
+v -0.03973788 -0.04143188 -0.01451271
+v -0.03318299 -0.02878702 -0.01924714
+v -0.03973788 -0.03588991 -0.01924716
+v -0.03973788 -0.03474614 -0.01451269
+v -0.03973788 -0.04143186 -0.01924718
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 9 8
+f 6 8 10
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_76.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78e33127db344fee98b50932a60e05763a9e8a26
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_76.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.03251365 0.05811349 -0.03655736
+v -0.03912633 0.05811349 -0.03532684
+v -0.03912633 0.06815969 -0.04099916
+v -0.03251365 0.06772066 -0.04122048
+v -0.03251365 0.05811345 -0.02549149
+v -0.03912633 0.05811345 -0.02521485
+v -0.03912633 0.06968664 -0.04169630
+v -0.03251365 0.06955600 -0.04192647
+v -0.03251365 0.06179911 -0.02500900
+v -0.03686924 0.06705883 -0.01977925
+v -0.03756766 0.06442896 -0.01977926
+v -0.03867646 0.06288488 -0.01977927
+v -0.03912633 0.06269214 -0.01977927
+v -0.03912633 0.07231652 -0.04234032
+v -0.03251365 0.06968664 -0.04196852
+v -0.03251365 0.06449966 -0.02487842
+v -0.03694238 0.07231643 -0.01977923
+v -0.03912633 0.07913738 -0.01977921
+v -0.03912633 0.07494638 -0.04238458
+v -0.03251365 0.07231652 -0.04238459
+v -0.03251365 0.07217945 -0.04237352
+v -0.03251365 0.07231645 -0.02534979
+v -0.03700517 0.07339150 -0.01977923
+v -0.03912633 0.07984412 -0.02540289
+v -0.03898134 0.07907741 -0.01977921
+v -0.03251365 0.07916096 -0.02762049
+v -0.03251365 0.07918667 -0.02770016
+v -0.03251365 0.07965996 -0.02922283
+v -0.03787771 0.07494638 -0.04238458
+v -0.03912633 0.07756125 -0.04159447
+v -0.03787771 0.07756553 -0.04159669
+v -0.03526397 0.07494638 -0.04237794
+v -0.03251365 0.07480932 -0.04236245
+v -0.03251365 0.07516047 -0.02564413
+v -0.03713980 0.07494629 -0.01977922
+v -0.03912633 0.07999190 -0.02798787
+v -0.03251365 0.07967281 -0.02935783
+v -0.03251365 0.07986342 -0.03180560
+v -0.03802723 0.07749478 -0.01977922
+v -0.03251365 0.07765757 -0.02664005
+v -0.03912633 0.07887618 -0.04082649
+v -0.03787771 0.07888046 -0.04083313
+v -0.03526397 0.07755696 -0.04159226
+v -0.03264958 0.07494638 -0.04236023
+v -0.03251365 0.07494638 -0.04235359
+v -0.03251365 0.07527183 -0.02568618
+v -0.03737477 0.07569585 -0.01977922
+v -0.03912633 0.07998120 -0.02922283
+v -0.03251365 0.07981418 -0.03439058
+v -0.03787771 0.07992767 -0.03180560
+v -0.03912633 0.07996407 -0.03057286
+v -0.03251365 0.07757619 -0.02659359
+v -0.03912633 0.07907963 -0.04020902
+v -0.03912633 0.07929807 -0.03953400
+v -0.03787771 0.07929807 -0.03953842
+v -0.03526397 0.07928950 -0.03952293
+v -0.03526397 0.07887190 -0.04081543
+v -0.03264958 0.07751199 -0.04157234
+v -0.03251365 0.07737922 -0.04160775
+v -0.03526397 0.07984202 -0.03439058
+v -0.03912633 0.07994052 -0.03180560
+v -0.03251365 0.07971996 -0.03697557
+v -0.03264958 0.07972210 -0.03697557
+v -0.03526397 0.07974994 -0.03697557
+v -0.03912633 0.07952722 -0.03831675
+v -0.03787771 0.07976707 -0.03697557
+v -0.03264958 0.07927451 -0.03944547
+v -0.03264958 0.07882693 -0.04074018
+v -0.03251365 0.07750343 -0.04156791
+v -0.03787771 0.07986558 -0.03439058
+v -0.03912633 0.07990839 -0.03315563
+v -0.03251365 0.07927237 -0.03943441
+v -0.03912633 0.07982489 -0.03574283
+v -0.03912633 0.07987628 -0.03439058
+v -0.03912633 0.07977136 -0.03697557
+v -0.03251365 0.07881836 -0.04072690
+v -0.03251365 0.07874983 -0.04077780
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 21
+f 1 21 20
+f 1 20 33
+f 1 33 45
+f 1 45 59
+f 1 59 69
+f 1 69 77
+f 1 77 76
+f 1 76 72
+f 1 72 62
+f 1 62 49
+f 1 49 38
+f 1 38 37
+f 1 37 28
+f 1 28 27
+f 1 27 26
+f 1 26 40
+f 1 40 52
+f 1 52 46
+f 1 46 34
+f 1 34 22
+f 1 22 16
+f 1 16 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 18
+f 2 18 24
+f 2 24 36
+f 2 36 48
+f 2 48 51
+f 2 51 61
+f 2 61 71
+f 2 71 74
+f 2 74 73
+f 2 73 75
+f 2 75 65
+f 2 65 54
+f 2 54 53
+f 2 53 41
+f 2 41 30
+f 2 30 19
+f 2 19 14
+f 2 14 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 16 17
+f 10 17 23
+f 10 23 35
+f 10 35 47
+f 10 47 39
+f 10 39 25
+f 10 25 18
+f 10 18 13
+f 10 13 12
+f 10 12 11
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 16 22 17
+f 17 22 23
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 24
+f 19 29 20
+f 19 30 31
+f 19 31 29
+f 20 29 32
+f 20 32 33
+f 22 34 23
+f 23 34 35
+f 24 28 37
+f 24 37 38
+f 24 38 36
+f 25 39 26
+f 26 39 40
+f 29 31 32
+f 30 41 42
+f 30 42 31
+f 31 43 32
+f 31 42 43
+f 32 44 33
+f 32 43 44
+f 33 44 45
+f 34 46 35
+f 35 46 47
+f 36 38 48
+f 38 49 50
+f 38 50 51
+f 38 51 48
+f 39 47 52
+f 39 52 40
+f 41 53 42
+f 42 53 54
+f 42 54 55
+f 42 55 56
+f 42 56 57
+f 42 57 43
+f 43 58 44
+f 43 57 58
+f 44 58 59
+f 44 59 45
+f 46 52 47
+f 49 60 61
+f 49 61 50
+f 49 62 63
+f 49 63 64
+f 49 64 60
+f 50 61 51
+f 54 65 55
+f 55 65 56
+f 56 65 66
+f 56 66 64
+f 56 64 63
+f 56 63 67
+f 56 67 57
+f 57 67 68
+f 57 68 58
+f 58 69 59
+f 58 68 69
+f 60 64 70
+f 60 70 71
+f 60 71 61
+f 62 72 67
+f 62 67 63
+f 64 66 73
+f 64 73 74
+f 64 74 70
+f 65 75 66
+f 66 75 73
+f 67 72 68
+f 68 76 77
+f 68 77 69
+f 68 72 76
+f 70 74 71
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_77.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f96dca0882b81b7b46302700101ed325b0af59
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_77.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.02729710 0.03066063 -0.03541318
+v -0.02480651 0.04138997 -0.03494655
+v -0.02552441 0.03066063 -0.03535076
+v -0.03912566 0.03066063 -0.03444723
+v -0.03912566 0.04138997 -0.03474993
+v -0.02110766 0.04138997 -0.03473276
+v -0.02496349 0.03066063 -0.03532735
+v -0.03912566 0.03066059 -0.02431646
+v -0.03912566 0.04138991 -0.01947262
+v -0.02110766 0.04138991 -0.01947262
+v -0.02110766 0.03066063 -0.03442226
+v -0.03912566 0.03575112 -0.01947264
+v -0.03310731 0.03066057 -0.01947266
+v -0.02110766 0.03066057 -0.01947266
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 14
+f 1 14 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 4 8 12
+f 4 12 9
+f 4 9 5
+f 6 10 14
+f 6 14 11
+f 6 11 7
+f 8 13 12
+f 9 12 13
+f 9 13 14
+f 9 14 10
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_78.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2974441282b8458c655ece0a25125ba1f8ad1e64
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_78.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.03009587 0.05725966 -0.03709154
+v 0.03147615 0.05725966 -0.03677306
+v 0.02748117 0.05725965 -0.03674411
+v 0.02870255 0.06571235 -0.04087528
+v 0.02889821 0.06571235 -0.04087528
+v 0.02990021 0.06694558 -0.04132514
+v 0.03147615 0.06737222 -0.04127392
+v 0.03147615 0.05725961 -0.02552195
+v 0.01936317 0.05725964 -0.03384448
+v 0.02579615 0.06787218 -0.04110243
+v 0.02769106 0.06702113 -0.04127614
+v 0.03009587 0.06968538 -0.04220704
+v 0.03147615 0.06968537 -0.04208901
+v 0.03147615 0.06155039 -0.02511883
+v 0.02527677 0.06705883 -0.01965360
+v 0.02468861 0.06442792 -0.01965361
+v 0.02413484 0.06344355 -0.01965362
+v 0.02378384 0.06292804 -0.01965362
+v 0.01936317 0.06019269 -0.01965363
+v 0.01936317 0.05725961 -0.02321917
+v 0.01936317 0.06705890 -0.03687770
+v 0.02549614 0.06968537 -0.04130063
+v 0.02748117 0.06968537 -0.04201329
+v 0.01936317 0.06968536 -0.03761484
+v 0.03009587 0.07231629 -0.04240524
+v 0.03147615 0.07231629 -0.04240302
+v 0.03147615 0.06312360 -0.02505202
+v 0.02523289 0.07231620 -0.01965358
+v 0.03147615 0.06452794 -0.02500747
+v 0.01936317 0.07995783 -0.01965356
+v 0.02555069 0.07231628 -0.04126499
+v 0.02748117 0.07231628 -0.04202664
+v 0.01936317 0.06996534 -0.03766384
+v 0.01936317 0.07230738 -0.03803575
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_79.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2ae75e965eba63e7467bdac8fb0dc5926b522cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_79.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_8.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22fa4b356aecad13b4207e3e8a50be12f88f78fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_8.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_80.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..088be7af7a850aa409a0b903c387fc7f3a6fa592
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_80.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_81.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3aee813b746751b7efbe9c0c0bdd31997d2bf24
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_81.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.02230460 -0.05129564 0.03231700
+v 0.01702251 -0.05129564 0.03233743
+v 0.01703333 -0.05391611 0.03232720
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+v 0.02230460 -0.05391611 0.03230166
+v 0.02230460 -0.04866568 0.03219439
+v 0.00918164 -0.05129564 0.03235276
+v 0.01702251 -0.04866568 0.03220972
+v 0.00919247 -0.05391611 0.03234253
+v 0.02230460 -0.05391594 -0.01231591
+v 0.01440745 -0.04006679 0.03151491
+v 0.02230460 -0.04006679 0.03143317
+v 0.02170062 -0.04006679 0.03146893
+v 0.02042339 -0.04006679 0.03147915
+v 0.00395368 -0.05129564 0.03235787
+v 0.00396450 -0.05391611 0.03235275
+v 0.01440745 -0.04866568 0.03221482
+v 0.00395368 -0.04006679 0.03154046
+v 0.01736455 -0.05391592 -0.01982625
+v 0.02230460 -0.05391323 -0.01238233
+v 0.02230460 -0.04006660 -0.01982620
+v 0.00019127 -0.05245201 0.03235787
+v 0.00656658 -0.04866568 0.03221994
+v 0.00019127 -0.04982205 0.03228124
+v 0.00019127 -0.05129564 0.03235787
+v 0.00019127 -0.05391611 0.03235275
+v 0.00315487 -0.04006679 0.03153024
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+v 0.00620073 -0.05391592 -0.01982625
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+v 0.00019127 -0.04006660 -0.01982620
+v 0.00019127 -0.05391594 -0.01245385
+v 0.00176291 -0.04006679 0.03149959
+v 0.00019127 -0.04006679 0.03144849
+v 0.00019127 -0.04921182 -0.01982623
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_82.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84294b2053f43e0d95390f08f7fed925b3da8d07
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_82.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03794330 -0.06113624 -0.02352724
+v 0.03794330 -0.05425165 -0.02558839
+v 0.03793863 -0.05391590 -0.02550185
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+v 0.03794330 -0.05403037 -0.03540021
+v 0.02213396 -0.05391590 -0.02499993
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+v 0.02748302 -0.05391585 -0.03678324
+v 0.03008526 -0.05391585 -0.03702082
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_83.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722b7de9f633abcf8724e23e9a03528a83d2d001
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_83.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.03794485 -0.05918699 0.03256886
+v 0.03793746 -0.06113645 0.03339603
+v 0.03794485 -0.06113645 0.03140246
+v 0.03794485 -0.05392742 0.03232724
+v 0.00134957 -0.05391611 0.03235511
+v 0.00019280 -0.05391611 0.03235511
+v 0.00019280 -0.06113645 0.03322873
+v 0.03794485 -0.06113628 -0.01403604
+v 0.03794485 -0.05391611 0.03231329
+v 0.03793746 -0.05391611 0.03232258
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+v 0.01914089 -0.05391594 -0.01406855
+v 0.03794485 -0.05391595 -0.01218186
+v 0.00449835 -0.05391594 -0.01406855
+v 0.00332310 -0.06113628 -0.01406857
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_84.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..595401628e0d894d123f3d7c862188db4fc1eb57
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_84.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01819921 -0.07979341 -0.02030610
+v 0.01840527 -0.07979341 -0.02010366
+v 0.01819921 -0.07979341 -0.02010366
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+v 0.02207262 -0.07933133 -0.02010366
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+f 5 32 26
+f 5 26 43
+f 5 43 60
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+f 5 29 19
+f 5 19 11
+f 5 11 6
+f 5 8 12
+f 5 12 13
+f 5 13 9
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+f 7 32 21
+f 7 21 15
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+f 11 19 14
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+f 17 28 18
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+f 26 42 43
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 34 50 35
+f 35 50 51
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+f 36 53 54
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+f 36 55 52
+f 37 52 56
+f 37 56 57
+f 37 57 58
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+f 59 68 60
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+f 64 65 68
+f 65 69 68
+f 66 70 67
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_85.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e48676a2cf701b3ab3ec1b7b8ed7df8b2f66b8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_85.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.03147700 0.05725966 -0.03677168
+v 0.03147700 0.06737250 -0.04127440
+v 0.04021015 0.06828496 -0.04113855
+v 0.04021015 0.06808912 -0.04104725
+v 0.04021015 0.05725965 -0.03531307
+v 0.03147700 0.05725961 -0.02552370
+v 0.03147700 0.06968705 -0.04208942
+v 0.04021015 0.06968705 -0.04176207
+v 0.04021015 0.05725961 -0.02524089
+v 0.04021015 0.06247847 -0.01965362
+v 0.03897477 0.06292357 -0.01965362
+v 0.03789413 0.06437685 -0.01965361
+v 0.03731107 0.06621514 -0.01965361
+v 0.03719309 0.06705862 -0.01965360
+v 0.03147700 0.06155044 -0.02511839
+v 0.03147700 0.07231765 -0.04240340
+v 0.03271067 0.07231765 -0.04240118
+v 0.04021015 0.07231765 -0.04236332
+v 0.04021015 0.07003201 -0.04185115
+v 0.04021015 0.07934801 -0.01965356
+v 0.03726918 0.07231756 -0.01965358
+v 0.03147700 0.06452821 -0.02500704
+v 0.03147700 0.06312389 -0.02505158
+v 0.03271067 0.07494600 -0.04237444
+v 0.03532506 0.07494600 -0.04239449
+v 0.03793859 0.07494600 -0.04239671
+v 0.03147700 0.07494600 -0.04231654
+v 0.04021015 0.07494600 -0.04239226
+v 0.04021015 0.07266260 -0.04237000
+v 0.03961939 0.07905647 -0.01965356
+v 0.04021015 0.07979982 -0.02405165
+v 0.03147700 0.07964628 -0.02922247
+v 0.03147700 0.07941481 -0.02848315
+v 0.03147700 0.07914997 -0.02764584
+v 0.03743931 0.07496371 -0.01965357
+v 0.03147700 0.07497931 -0.02570624
+v 0.03271067 0.07750980 -0.04157945
+v 0.03793859 0.07757657 -0.04161508
+v 0.04021015 0.07529318 -0.04228982
+v 0.03147700 0.07742078 -0.04153268
+v 0.03958947 0.07902976 -0.01965356
+v 0.04021015 0.07995561 -0.02660811
+v 0.03147700 0.07985993 -0.03180565
+v 0.03147700 0.07975978 -0.03058755
+v 0.03147700 0.07757652 -0.02668606
+v 0.03854388 0.07777234 -0.01965356
+v 0.03904573 0.07851566 -0.01965356
+v 0.03828655 0.07714029 -0.01965357
+v 0.03533190 0.07783028 -0.04145696
+v 0.03271067 0.07882510 -0.04073545
+v 0.03446499 0.07887851 -0.04082675
+v 0.03620735 0.07890076 -0.04086461
+v 0.04021015 0.07778354 -0.04148591
+v 0.03793859 0.07890076 -0.04086461
+v 0.04011696 0.07889631 -0.04086015
+v 0.03147700 0.07873607 -0.04061742
+v 0.04021015 0.07999346 -0.02922247
+v 0.03793859 0.07995562 -0.02922247
+v 0.03147700 0.07982878 -0.03317073
+v 0.04021015 0.07994673 -0.03180565
+v 0.03147700 0.07901872 -0.04000726
+v 0.03147700 0.07925239 -0.03932361
+v 0.03271067 0.07926574 -0.03944163
+v 0.03533190 0.07920566 -0.03980461
+v 0.03793859 0.07930136 -0.03956188
+v 0.04021015 0.07875610 -0.04093810
+v 0.04021015 0.07923681 -0.03976453
+v 0.04021015 0.07889631 -0.04085793
+v 0.03147700 0.07979986 -0.03439106
+v 0.04021015 0.07987775 -0.03439106
+v 0.03147700 0.07945491 -0.03827697
+v 0.03147700 0.07968637 -0.03697647
+v 0.03271067 0.07970416 -0.03697647
+v 0.03793859 0.07975535 -0.03697647
+v 0.04021015 0.07977094 -0.03697647
+v 0.03147700 0.07974422 -0.03575614
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 15
+f 1 15 23
+f 1 23 22
+f 1 22 36
+f 1 36 45
+f 1 45 34
+f 1 34 33
+f 1 33 32
+f 1 32 44
+f 1 44 43
+f 1 43 59
+f 1 59 69
+f 1 69 76
+f 1 76 72
+f 1 72 71
+f 1 71 62
+f 1 62 61
+f 1 61 56
+f 1 56 40
+f 1 40 27
+f 1 27 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 19
+f 3 19 18
+f 3 18 29
+f 3 29 28
+f 3 28 39
+f 3 39 53
+f 3 53 66
+f 3 66 68
+f 3 68 67
+f 3 67 75
+f 3 75 70
+f 3 70 60
+f 3 60 57
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+f 3 42 31
+f 3 31 20
+f 3 20 10
+f 3 10 9
+f 3 9 5
+f 3 5 4
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 10 20 30
+f 10 30 41
+f 10 41 47
+f 10 47 46
+f 10 46 48
+f 10 48 35
+f 10 35 21
+f 10 21 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 16 24 25
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+f 16 26 17
+f 16 27 24
+f 17 26 28
+f 17 28 29
+f 17 29 18
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 30
+f 21 35 22
+f 22 35 36
+f 24 27 37
+f 24 37 38
+f 24 38 25
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+f 40 56 50
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+f 42 58 43
+f 43 58 57
+f 43 57 60
+f 43 60 59
+f 45 48 46
+f 50 56 61
+f 50 61 51
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+f 51 62 63
+f 51 63 52
+f 52 63 64
+f 52 64 65
+f 52 65 54
+f 53 55 66
+f 54 65 67
+f 54 67 55
+f 55 68 66
+f 55 67 68
+f 59 60 69
+f 60 70 69
+f 62 71 63
+f 63 65 64
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+f 63 72 73
+f 63 73 65
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+f 65 74 75
+f 65 75 67
+f 69 70 74
+f 69 74 76
+f 70 75 74
+f 72 76 73
+f 73 76 74
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_86.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d78f25de65effb5eae41bf53e6e2bce90adbd543
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_86.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.03973788 -0.02530288 -0.01451265
+v -0.03973788 -0.02359642 -0.01924712
+v -0.03318299 -0.02878578 -0.01924714
+v -0.03449931 -0.02878580 -0.01451267
+v -0.03973788 -0.00609316 -0.01451258
+v -0.03973788 -0.00750078 -0.01924706
+v -0.02456149 -0.02878578 -0.01924714
+v -0.02456149 -0.02878580 -0.01451267
+v -0.03264814 -0.00508937 -0.01451258
+v -0.03267934 -0.00658337 -0.01924705
+v -0.02456149 -0.00746810 -0.01924706
+v -0.02456149 -0.00602313 -0.01451258
+v -0.03081033 -0.00497732 -0.01451258
+v -0.03003628 -0.00493997 -0.01451258
+v -0.03003628 -0.00647365 -0.01924705
+v -0.02970052 -0.00652267 -0.01924705
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 14
+f 1 14 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 16
+f 2 16 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 14
+f 11 14 12
+f 14 16 15
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_87.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8658ace7b50480b8ef267eb58e4c762d6492ba1d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_87.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.01914122 -0.05391594 -0.01407375
+v 0.02434359 -0.06113628 -0.01407377
+v 0.01732821 -0.05392370 -0.01970776
+v 0.01710184 -0.05391592 -0.01889250
+v 0.00449721 -0.05391594 -0.01407375
+v 0.02069905 -0.06113626 -0.01970778
+v 0.00332420 -0.06113628 -0.01407377
+v 0.01328855 -0.05391592 -0.01970776
+v 0.00623613 -0.05391592 -0.01970776
+v 0.00539857 -0.06113626 -0.01970778
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 10
+f 2 10 6
+f 3 6 10
+f 3 10 9
+f 3 9 8
+f 3 8 4
+f 5 9 7
+f 7 9 10
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_88.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d676d3083266e3c950edbca6bf0b5b9dbf1a4ba8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_88.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02024142 0.04668446 -0.03601015
+v -0.02024142 0.04601727 -0.03598860
+v -0.02024142 0.04869322 -0.03590072
+v -0.01303371 0.05001530 -0.03568518
+v -0.01434875 0.04864607 -0.03578135
+v -0.01434875 0.04601727 -0.03587254
+v 0.00300163 0.04139099 -0.03546139
+v -0.00990991 0.04139099 -0.03573661
+v -0.02024142 0.04484584 -0.03584271
+v -0.01251725 0.04139099 -0.03575153
+v -0.01348646 0.04139099 -0.03571837
+v -0.02024142 0.04908472 -0.03584269
+v -0.01434875 0.05185905 -0.03552767
+v -0.01191888 0.05185905 -0.03547959
+v 0.00300163 0.05185905 -0.03414161
+v 0.00300163 0.04139093 -0.01907408
+v -0.02024142 0.04444921 -0.03576313
+v -0.01477648 0.04139099 -0.03557745
+v -0.02024142 0.04984723 -0.03566197
+v -0.02024142 0.05185905 -0.03515960
+v 0.00300163 0.05185900 -0.02308466
+v -0.02024142 0.04139093 -0.01907408
+v 0.00300163 0.04947821 -0.01907405
+v -0.02024142 0.04346841 -0.03543485
+v -0.01527474 0.04139099 -0.03551610
+v -0.02024142 0.05185901 -0.02326537
+v -0.00508657 0.05185899 -0.01907404
+v -0.02024142 0.04948744 -0.01907405
+v -0.02024142 0.04139099 -0.03470867
+v -0.01776149 0.05185899 -0.01907404
+f 1 2 9
+f 1 9 17
+f 1 17 24
+f 1 24 29
+f 1 29 22
+f 1 22 28
+f 1 28 26
+f 1 26 20
+f 1 20 19
+f 1 19 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 11
+f 2 11 9
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 7
+f 4 7 5
+f 5 7 6
+f 7 15 21
+f 7 21 23
+f 7 23 16
+f 7 16 22
+f 7 22 29
+f 7 29 25
+f 7 25 18
+f 7 18 11
+f 7 11 10
+f 7 10 8
+f 7 14 15
+f 9 11 17
+f 11 18 17
+f 12 19 13
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+f 13 26 30
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+f 13 27 21
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+f 13 15 14
+f 16 23 27
+f 16 27 30
+f 16 30 28
+f 16 28 22
+f 17 18 25
+f 17 25 24
+f 21 27 23
+f 24 25 29
+f 26 28 30
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_89.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d4f03a4f43b758f4351c6fc7a02cdadfc6efd3f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_89.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.03794405 -0.07990939 -0.02922336
+v 0.02970234 -0.07976788 -0.03180716
+v 0.03793840 -0.07987446 -0.03180716
+v 0.03794405 -0.07987446 -0.03180716
+v 0.03794405 -0.07955107 -0.02619656
+v 0.02970234 -0.07955474 -0.02922336
+v 0.02970234 -0.07972194 -0.03439097
+v 0.03009607 -0.07972745 -0.03439097
+v 0.03793840 -0.07982484 -0.03439097
+v 0.03794405 -0.07982484 -0.03439097
+v 0.03794405 -0.07945553 -0.02559861
+v 0.02970234 -0.07911741 -0.02765431
+v 0.02970234 -0.07959330 -0.03697695
+v 0.03009607 -0.07961535 -0.03697695
+v 0.03271099 -0.07967415 -0.03697695
+v 0.03532429 -0.07971090 -0.03697695
+v 0.03793840 -0.07973663 -0.03697695
+v 0.03794405 -0.07973663 -0.03697695
+v 0.03794405 -0.07880503 -0.02398592
+v 0.02970234 -0.07762531 -0.02665483
+v 0.03794405 -0.07763636 -0.02185385
+v 0.03794405 -0.07649709 -0.02010147
+v 0.02970234 -0.07920190 -0.03904356
+v 0.03009607 -0.07922027 -0.03911121
+v 0.03271099 -0.07926254 -0.03937963
+v 0.03532429 -0.07928090 -0.03949529
+v 0.03794405 -0.07929560 -0.03951711
+v 0.02970234 -0.07509869 -0.02567280
+v 0.03794405 -0.06387308 -0.02010142
+v 0.03733812 -0.07500131 -0.02010147
+v 0.02970234 -0.07848340 -0.04035947
+v 0.03009607 -0.07861387 -0.04040311
+v 0.03271099 -0.07881049 -0.04067153
+v 0.03532429 -0.07887664 -0.04078719
+v 0.03793840 -0.07888950 -0.04081338
+v 0.03794405 -0.07888950 -0.04081338
+v 0.02970234 -0.07460254 -0.02556149
+v 0.03764149 -0.06432512 -0.02010143
+v 0.03794405 -0.06113878 -0.02352757
+v 0.02970234 -0.06113878 -0.02505298
+v 0.03722517 -0.07358272 -0.02010146
+v 0.02970234 -0.06511341 -0.02477149
+v 0.02970234 -0.07326113 -0.02540001
+v 0.02970234 -0.07828127 -0.04055805
+v 0.03009607 -0.07730002 -0.04147459
+v 0.03271099 -0.07749664 -0.04157498
+v 0.03532429 -0.07756095 -0.04159898
+v 0.03793840 -0.07757565 -0.04160117
+v 0.03794405 -0.07757749 -0.04159898
+v 0.03708720 -0.06707778 -0.02010144
+v 0.02970234 -0.06218802 -0.02488277
+v 0.03794405 -0.06113874 -0.03600359
+v 0.02970234 -0.06113873 -0.03789125
+v 0.03715255 -0.07233686 -0.02010146
+v 0.02970234 -0.06451988 -0.02475621
+v 0.02970234 -0.07721733 -0.04142440
+v 0.03009607 -0.07496631 -0.04224057
+v 0.03271099 -0.07496631 -0.04236714
+v 0.03532429 -0.07496631 -0.04239114
+v 0.03794405 -0.07497183 -0.04239333
+v 0.03794405 -0.06824271 -0.04097046
+v 0.03266903 -0.06113873 -0.03739806
+v 0.03009607 -0.06113873 -0.03793272
+v 0.02970234 -0.06599170 -0.04071512
+v 0.02970234 -0.07498837 -0.04213582
+v 0.02970234 -0.07457124 -0.04221001
+v 0.03009607 -0.07233677 -0.04239332
+v 0.03793840 -0.07496631 -0.04239333
+v 0.03794405 -0.07234228 -0.04234749
+v 0.03794405 -0.06971459 -0.04167098
+v 0.03793840 -0.06970724 -0.04166879
+v 0.03009607 -0.06729269 -0.04141128
+v 0.03009607 -0.06597700 -0.04072385
+v 0.03192272 -0.06113873 -0.03757264
+v 0.02970234 -0.06710709 -0.04129998
+v 0.02970234 -0.07233677 -0.04233876
+v 0.03271099 -0.07233677 -0.04239332
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_9.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..770f33a133a4cece8cc4435b739c2de88470a61c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_9.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.06026292 0.04338803 -0.01911181
+v 0.06025899 0.04354606 -0.01911181
+v 0.06026096 0.04075789 -0.01911182
+v 0.06026292 0.04338805 -0.02405223
+v 0.06025507 0.04601821 -0.02663658
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+v 0.06019224 0.05587381 -0.02993319
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+v 0.06025703 0.03989268 -0.02663660
+v 0.06026096 0.04075792 -0.02663660
+v 0.06025899 0.04338806 -0.02663659
+v 0.06024917 0.04601822 -0.02922322
+v 0.06021973 0.05390552 -0.03180527
+v 0.06019224 0.05390553 -0.03439191
+v 0.06018439 0.05587383 -0.03456541
+v 0.06016280 0.05587381 -0.02960673
+v 0.05970933 0.04624974 -0.01911180
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+v 0.06019421 0.05127539 -0.03439192
+v 0.06016869 0.05390553 -0.03585075
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+v 0.05875921 0.05587380 -0.02698127
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+v 0.05813495 0.05587380 -0.02665252
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+v 0.04021015 0.04869995 -0.01911179
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+v 0.06020206 0.03989270 -0.03308837
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_90.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c5af01c1a15ea0eaf704fdb843d8678a73861d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_90.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00067731 -0.06113620 -0.03578104
+v 0.00133895 -0.05655731 -0.03540816
+v 0.01440907 -0.05391586 -0.03540658
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_91.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9269bb6c7bb7f0c714c06a0c157aaf9e0ed2cde5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_91.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00271979 -0.05325221 -0.01360694
+v -0.00268416 -0.05965837 -0.01360696
+v -0.00532468 -0.05965835 -0.01947006
+v -0.00572253 -0.05325219 -0.01947004
+v -0.02022359 -0.05325221 -0.01360694
+v -0.02290567 -0.05965837 -0.01360696
+v -0.01858069 -0.05965835 -0.01947006
+v -0.01734950 -0.05325219 -0.01947004
+f 1 2 3
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+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 6
+f 6 8 7
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_92.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e6f49fa3bcf2bb3caf7cf32ff231b70e0657293
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_92.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02742234 0.02234689 -0.03613632
+v -0.02786331 0.01453203 -0.03580193
+v -0.02938553 0.01453203 -0.03580193
+v -0.03003640 0.02234689 -0.03610043
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+v -0.02628464 0.02905976 -0.03569910
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+v -0.02307614 0.02656691 -0.03573337
+v -0.02110766 0.02442453 -0.03574317
+v -0.02110766 0.02427771 -0.03574317
+v -0.02110766 0.02281894 -0.03563714
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+v -0.02110766 0.01453197 -0.01947279
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+v -0.03912566 0.02362088 -0.01947275
+v -0.03912566 0.03065901 -0.02431601
+v -0.03310731 0.03065899 -0.01947273
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+f 10 24 17
+f 10 17 12
+f 10 12 11
+f 13 17 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 18
+f 15 18 16
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 24 32 25
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+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 30 36 39
+f 30 39 37
+f 30 37 31
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+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_93.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f260ca600faf353f39869c70dcc73309d2d22f5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_93.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.03912566 0.00605731 -0.01464689
+v -0.03183379 0.00480693 -0.01464689
+v -0.03912566 0.02522984 -0.01464682
+v -0.03912566 0.00732439 -0.01947118
+v -0.03019868 0.00461163 -0.01464689
+v -0.03264871 0.00637886 -0.01947119
+v -0.03405804 0.02891429 -0.01464680
+v -0.03405275 0.02894287 -0.01465105
+v -0.03318492 0.02894289 -0.01947110
+v -0.03912566 0.02361984 -0.01947112
+v -0.02110766 0.00538806 -0.01464689
+v -0.03071373 0.00628836 -0.01947119
+v -0.03003640 0.00626454 -0.01947119
+v -0.02110766 0.00645507 -0.01947119
+v -0.03400160 0.02894287 -0.01464680
+v -0.02110766 0.02894289 -0.01947110
+v -0.02110766 0.02894287 -0.01464680
+f 1 2 5
+f 1 5 11
+f 1 11 17
+f 1 17 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 16
+f 4 16 14
+f 4 14 13
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+f 4 12 6
+f 5 6 12
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 7 15 8
+f 8 15 17
+f 8 17 16
+f 8 16 9
+f 11 14 16
+f 11 16 17
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_94.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a49abf3f9f4f00d833857f366dc91af63665396
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_94.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00300163 0.05134701 0.03239955
+v -0.00389170 0.05134701 0.03239955
+v 0.00300163 0.05127585 0.03239955
+v 0.00300163 0.05134718 -0.01474553
+v -0.00650745 0.05134701 0.03239451
+v -0.00389170 0.05127585 0.03239955
+v 0.00300163 0.04864618 0.03219294
+v 0.00300163 0.04947874 -0.01906901
+v -0.00463225 0.05134720 -0.01906900
+v -0.00650745 0.05127585 0.03239451
+v -0.01434718 0.05134701 0.03237939
+v -0.02264378 0.04864618 0.03215767
+v -0.01434718 0.04864618 0.03217278
+v -0.00389170 0.04864618 0.03218790
+v 0.00133729 0.04864618 0.03219294
+v -0.00365573 0.04139069 0.03141186
+v 0.00300163 0.04139069 0.03140178
+v 0.00300163 0.04139088 -0.01906904
+v -0.01820805 0.05134720 -0.01906900
+v -0.01434718 0.05127585 0.03237939
+v -0.01696293 0.05134701 0.03236932
+v -0.02264378 0.05127585 0.03234916
+v -0.02264378 0.05082166 0.03232396
+v -0.02264378 0.04139069 0.03138163
+v -0.01696293 0.04139069 0.03139674
+v -0.01434718 0.04139069 0.03140178
+v -0.00389170 0.04139069 0.03141186
+v -0.02264378 0.04139088 -0.01906904
+v -0.02264378 0.04882084 -0.01906901
+v -0.02264378 0.05134718 -0.01372764
+v -0.02219192 0.05134701 0.03234916
+v -0.02264378 0.05134701 0.03234412
+f 1 2 6
+f 1 6 3
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+f 1 17 18
+f 1 18 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 30
+f 1 30 32
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+f 1 31 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
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+f 8 19 9
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+f 16 18 17
+f 19 29 30
+f 20 22 23
+f 21 31 22
+f 22 31 32
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_95.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf41373f116f4fc6140cf0df0067d301d85b3c5f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_95.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.02173843 -0.05918001 -0.02371605
+v -0.02173843 -0.05244239 -0.02412138
+v -0.03003466 -0.05244239 -0.02416152
+v -0.03264852 -0.05244239 -0.02426587
+v -0.03527962 -0.05918001 -0.02508198
+v -0.02173843 -0.05917997 -0.03487494
+v -0.02173843 -0.05244235 -0.03559065
+v -0.03527962 -0.05244239 -0.02464983
+v -0.03527962 -0.05917997 -0.03573784
+v -0.02466113 -0.05917997 -0.03625425
+v -0.02742743 -0.05917996 -0.03733656
+v -0.02269013 -0.05244235 -0.03589300
+v -0.03527962 -0.05244235 -0.03595989
+v -0.03265250 -0.05917997 -0.03663954
+v -0.03004129 -0.05917996 -0.03738204
+v -0.02742080 -0.05244234 -0.03703016
+v -0.02471813 -0.05244235 -0.03644553
+v -0.03443131 -0.05244235 -0.03619134
+v -0.03150993 -0.05244234 -0.03677731
+v -0.03003466 -0.05244234 -0.03700876
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 14 15
+f 1 15 11
+f 1 11 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 17
+f 2 17 16
+f 2 16 20
+f 2 20 19
+f 2 19 18
+f 2 18 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 13
+f 5 13 9
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 9 13 14
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 15
+f 13 15 14
+f 15 18 19
+f 15 19 20
+f 15 20 16
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_96.obj b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10716471891cfe6a7b3a0d9c6647a9d919eb555f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/mesh/soap_dish_040_collision_96.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.03527961 -0.06707827 -0.02298782
+v -0.03016844 -0.06458875 -0.02504410
+v -0.03016844 -0.06159932 -0.02512779
+v -0.03527961 -0.06519798 -0.02306770
+v -0.03527961 -0.07233657 -0.02326747
+v -0.03016844 -0.07484631 -0.02570990
+v -0.03016844 -0.05929805 -0.02540169
+v -0.03527961 -0.06444707 -0.02319896
+v -0.03016844 -0.05918066 -0.02541691
+v -0.03527961 -0.07513372 -0.02367645
+v -0.03016844 -0.07759689 -0.02677135
+v -0.03527961 -0.06185232 -0.02394461
+v -0.03016844 -0.05918064 -0.03057000
+v -0.03527961 -0.05918066 -0.02508212
+v -0.03527961 -0.07546362 -0.02382672
+v -0.03016844 -0.07912702 -0.02769773
+v -0.03527961 -0.07693911 -0.02465418
+v -0.03016844 -0.05918871 -0.03734567
+v -0.03265373 -0.05918062 -0.03663994
+v -0.03527961 -0.05918062 -0.03573640
+v -0.03527961 -0.07927275 -0.02678657
+v -0.03016844 -0.07957432 -0.02922330
+v -0.03527961 -0.07746939 -0.02503082
+v -0.03527961 -0.07810492 -0.02559008
+v -0.03016844 -0.06710653 -0.04128517
+v -0.03527961 -0.06815495 -0.04102076
+v -0.03527961 -0.07977470 -0.02903879
+v -0.03527961 -0.07981517 -0.02922330
+v -0.03016844 -0.07979290 -0.03180840
+v -0.03016844 -0.06970532 -0.04217922
+v -0.03526360 -0.06970532 -0.04173600
+v -0.03527961 -0.06970532 -0.04173410
+v -0.03527961 -0.07985766 -0.03180840
+v -0.03526360 -0.07981515 -0.03439160
+v -0.03016844 -0.07974431 -0.03439160
+v -0.03016844 -0.07233650 -0.04241891
+v -0.03264972 -0.07233650 -0.04240179
+v -0.03527961 -0.07233650 -0.04236755
+v -0.03527961 -0.07232030 -0.04236374
+v -0.03527961 -0.07981515 -0.03439160
+v -0.03526360 -0.07972608 -0.03697671
+v -0.03264972 -0.07968561 -0.03697671
+v -0.03016844 -0.07963298 -0.03697671
+v -0.03016844 -0.07496565 -0.04227815
+v -0.03264972 -0.07496565 -0.04238658
+v -0.03526360 -0.07496565 -0.04239990
+v -0.03527961 -0.07496565 -0.04239990
+v -0.03527961 -0.07495149 -0.04239990
+v -0.03527961 -0.07972608 -0.03697671
+v -0.03527961 -0.07928890 -0.03953708
+v -0.03264972 -0.07926664 -0.03943246
+v -0.03016844 -0.07961072 -0.03710225
+v -0.03016844 -0.07734789 -0.04150015
+v -0.03264972 -0.07753005 -0.04158955
+v -0.03526360 -0.07758267 -0.04160097
+v -0.03527961 -0.07758267 -0.04160097
+v -0.03527961 -0.07889017 -0.04083439
+v -0.03526360 -0.07889827 -0.04082868
+v -0.03264972 -0.07884564 -0.04072406
+v -0.03016844 -0.07923223 -0.03918137
+v -0.03016844 -0.07866349 -0.04047487
+v -0.03016844 -0.07920997 -0.03924794
+f 1 2 3
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+f 1 12 14
+f 1 14 20
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+f 1 26 32
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+f 10 15 11
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+f 13 18 19
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+f 51 60 52
+f 53 61 59
+f 53 59 54
+f 54 59 58
+f 54 58 57
+f 54 57 55
+f 55 57 56
+f 59 61 62
+f 59 62 60
+
diff --git a/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/soap_dish_040.xml b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/soap_dish_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f6e7a8fe7f3444b881d2ba509832f8f230d82feb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/mjcf/soap_dish_040.xml
@@ -0,0 +1,208 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_040">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/soap_dish_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soap_dish_040_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/soap_dish_040_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/soap_dish_040_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/soap_dish_040_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/soap_dish_040_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/soap_dish_040_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/soap_dish_040_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/soap_dish_040_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/soap_dish_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/soap_dish_040_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/soap_dish_040_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/soap_dish_040_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/soap_dish_040_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/soap_dish_040_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/soap_dish_040_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/soap_dish_040_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/soap_dish_040_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/soap_dish_040_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/soap_dish_040_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/soap_dish_040_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/soap_dish_040_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/soap_dish_040_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/soap_dish_040_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/soap_dish_040_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/soap_dish_040_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/soap_dish_040_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/soap_dish_040_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/soap_dish_040_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/soap_dish_040_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/soap_dish_040_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/soap_dish_040_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/soap_dish_040_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/soap_dish_040_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/soap_dish_040_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/soap_dish_040_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/soap_dish_040_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/soap_dish_040_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/soap_dish_040_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/soap_dish_040_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/soap_dish_040_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/soap_dish_040_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/soap_dish_040_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/soap_dish_040_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/soap_dish_040_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/soap_dish_040_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/soap_dish_040_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/soap_dish_040_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/soap_dish_040_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/soap_dish_040_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/soap_dish_040_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/soap_dish_040_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/soap_dish_040_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/soap_dish_040_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/soap_dish_040_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/soap_dish_040_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/soap_dish_040_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/soap_dish_040_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/soap_dish_040_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/soap_dish_040_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/soap_dish_040_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/soap_dish_040_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/soap_dish_040_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/soap_dish_040_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/soap_dish_040_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/soap_dish_040_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/soap_dish_040_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/soap_dish_040_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/soap_dish_040_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/soap_dish_040_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/soap_dish_040_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/soap_dish_040_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/soap_dish_040_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/soap_dish_040_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/soap_dish_040_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/soap_dish_040_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/soap_dish_040_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/soap_dish_040_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/soap_dish_040_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_96" file="mesh/soap_dish_040_collision_96.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_040">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_84" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_85" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_89" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_91" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_92" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_93" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_94" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_95" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_96" 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/b684d56be9615668bbbef47a126b6370/soap_dish_040.urdf b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/soap_dish_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d8af9ee6218bc0bf3c554981e7c3379fd55b587
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/soap_dish_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_040">
+   <link name="soap_dish_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>b684d56be9615668bbbef47a126b6370</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>brown soap dish</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular brown soap dish with drainage holes and raised tray</description>
+         <min_height>0.0803</min_height>
+         <max_height>0.0803</max_height>
+         <real_height>0.0803</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170629</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059969 -0.079956 -0.042308</min>
+            <max>0.060031 0.079936 0.038025</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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