diff --git a/.gitattributes b/.gitattributes
index 6995e200680a73edde605bb47ff6b2a1bf11f132..c20376265da12d26b36c01804ed2f1fef0a78572 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2345,3 +2345,7 @@ dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sp
 dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/93f8a20a38015789a32748f4cbd171df/mesh/shampoo_bottle_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/93f8a20a38015789a32748f4cbd171df/shampoo_bottle_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/soap_dish_007.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0154538fa5ef231bab66b6e948dd3fb35cb98eba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_007_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_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d207bf8cb5e7a51c1ba74f3dcf59452a66cced2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49de5963a3cc6d090dc65633b0cf4b09889f7fd132e803f527acff32e7875518
+size 11793421
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.glb b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5722489a056bdb9d59a81c0904e6f8438cc02580
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cec65d3bb9967385ca86f760b077d566ce3e24926e93f054f70e35ff50d9a17
+size 81180792
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.mtl b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2bbaf5df73221e9663bc55fc9a8b191fad62fe87
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_007_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/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8b52a8508f3d69e7d1b278fbd5663adc87b790e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf7b233106c151cb283fbb673abc43d03ca0671b7b63e9d9362216d3eb192b2
+size 117764445
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007_collision.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db7a57b6c6a4ceabf8db1bfdc6c1927ee52d8a65
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007_collision.obj
@@ -0,0 +1,11253 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_0.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e3bfa22f88f290562a94d86e22743eff7146f1c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_1.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d01e7577c6f2dae1083f0bb23d3646078becb60
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_10.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c95266190acad5caa80afc9e13e2c7815f5d207
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_10.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_11.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd61f8b20ce1bd6902f07ddb01650dd20d6c5af4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_11.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01876840 0.00175506 0.01234771
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+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_12.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a32a275556f085cd0e310e3dfd30ee2b45c6362
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_12.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.03042345 0.00915312 0.00649889
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_13.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..705838e9512c3fb50825b102f506a5f2c1711312
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_13.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_14.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2b3bf9bf821439bc981afbefb23a1e28336b21
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_14.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_15.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe605ad86dccc3e3eb9148390936f34b8be46106
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_15.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_16.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d7b9d09e13544846d4ae5bc4af1bef994c16cc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_16.obj
@@ -0,0 +1,706 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_17.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e445a723489a92115b9270a804002adc9e17de3f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_17.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_18.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78224d53b0ed73bc11239e20cc35b227460781c0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_18.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_19.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3f8241e8b17b6c1e68f027d54df74d9d3dba6a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_19.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_2.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292e2a66e8e2420d966370db4a1c5aa18888569d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_2.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00012716 0.00661357 -0.01587496
+v -0.00012716 0.00175517 -0.01587221
+v -0.00374243 0.00175517 -0.01587221
+v -0.01590125 0.00843556 -0.01587219
+v -0.01590125 0.00849856 -0.01587219
+v -0.01410401 0.00911120 -0.01587219
+v -0.00012716 0.00915320 -0.01587219
+v 0.01444679 0.00915320 -0.01587219
+v 0.01444679 0.00244312 -0.01587221
+v 0.01297335 0.00175589 -0.01587221
+v 0.01444679 0.00175589 -0.01586946
+v -0.00012716 0.00175507 0.01220032
+v -0.01590125 0.00175517 -0.01586946
+v -0.01590125 0.00911120 -0.01586944
+v -0.00012716 0.00915313 0.00262320
+v 0.01444679 0.00915313 0.00268385
+v 0.01444679 0.00175578 0.01228854
+v -0.01410401 0.00175506 0.01225821
+v -0.01590125 0.00175507 0.01224443
+v -0.01590125 0.00911113 0.00277483
+v 0.01376057 0.00915313 0.00268109
+v 0.01444679 0.00370089 0.01076954
+v -0.01535762 0.00911113 0.00277483
+v -0.01523879 0.00373638 0.01086051
+v 0.01444679 0.00223157 0.01205972
+v -0.01589828 0.00300280 0.01172063
+v -0.01590125 0.00177535 0.01223616
+v -0.01590125 0.00416508 0.01019337
+v 0.01444679 0.00332650 0.01123819
+v 0.01444679 0.00281814 0.01177577
+v -0.01590125 0.00299990 0.01172063
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+f 26 28 31
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+f 26 30 29
+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_20.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c821e7fa9b1fedf278c557cfea9bbddae1ebde10
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_20.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01876840 0.00175510 0.00343751
+v 0.01876840 0.00175517 -0.01587455
+v -0.00011573 0.00175510 0.00343751
+v 0.01876840 -0.00950839 0.00343747
+v 0.00261633 0.00175517 -0.01587455
+v 0.01876840 -0.00846932 -0.01587648
+v 0.00818952 -0.01412390 -0.01587839
+v -0.00011573 0.00175517 -0.01587266
+v -0.00011573 -0.00696226 0.00343747
+v 0.01876840 -0.02740552 0.00256199
+v 0.00075860 -0.01600781 -0.01587651
+v 0.01876840 -0.01731798 -0.01587651
+v 0.01876840 -0.02740545 -0.01587466
+v 0.01190312 -0.02166524 -0.01587653
+v 0.00633179 -0.02740545 -0.01587466
+v 0.00261633 -0.02543591 -0.01587465
+v 0.00261633 -0.01789457 -0.01587652
+v -0.00011573 -0.01035608 -0.01587460
+v -0.00011573 -0.02740552 0.00241451
+v -0.00011573 -0.02740545 -0.01587277
+v -0.00011573 -0.01977848 -0.01587463
+f 1 2 5
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+f 1 13 12
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+f 10 15 13
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+f 11 16 20
+f 11 20 21
+f 11 21 18
+f 13 15 14
+f 15 20 16
+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_21.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20563649215681cca00ec8e9959c9c39bef80574
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_21.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.01946400 0.00915385 0.00411373
+v 0.01946400 0.02757612 0.00266382
+v -0.00012561 0.02757612 0.00241727
+v -0.00012561 0.02746973 0.00241923
+v -0.00012561 0.02358187 0.00246422
+v -0.00012561 0.00915386 0.00262462
+v 0.01946400 0.00915393 -0.01587290
+v 0.01946400 0.02757619 -0.01586891
+v -0.00012561 0.02757619 -0.01587283
+v -0.00012561 0.00915393 -0.01587290
+v 0.01933552 0.00915393 -0.01587681
+v 0.01946400 0.01227179 -0.01587288
+v 0.01933552 0.02757619 -0.01587087
+v 0.00818885 0.02757619 -0.01587478
+v 0.00075838 0.00915393 -0.01587485
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 15
+f 1 15 11
+f 1 11 7
+f 1 7 12
+f 1 12 8
+f 1 8 2
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+f 2 13 14
+f 2 14 9
+f 2 9 3
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+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 7 11 12
+f 8 12 11
+f 8 11 13
+f 9 14 15
+f 9 15 10
+f 11 15 14
+f 11 14 13
+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_22.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3278a023423ae2663bea88fa99e70902ec6e2e06
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_22.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.02005868 -0.04416936 0.00336673
+v -0.02005673 -0.04417067 0.00336582
+v -0.02005868 -0.04498667 0.00336581
+v -0.02005868 -0.04859443 0.01010889
+v -0.00021407 -0.05232024 0.01163913
+v -0.00021407 -0.04817722 0.00336580
+v -0.02005868 -0.05543335 0.00336578
+v -0.02005868 -0.04945373 0.01136578
+v -0.00021407 -0.05304965 0.01206687
+v -0.02005868 -0.04993257 0.01167546
+v -0.00021407 -0.05757044 0.00336577
+v -0.02005868 -0.05548583 0.00470804
+v -0.01967794 -0.05562489 0.00336578
+v -0.00021407 -0.05371742 0.01245828
+v -0.02005868 -0.05183222 0.01242559
+v -0.01967794 -0.05183222 0.01244103
+v -0.00295882 -0.05757044 0.00336577
+v -0.00021407 -0.05757045 0.00470803
+v -0.02005868 -0.05552388 0.00650166
+v -0.01967794 -0.05567606 0.00470804
+v -0.01967794 -0.05571542 0.00650166
+v -0.01803070 -0.05630052 0.00336577
+v -0.01809675 -0.05632545 0.00470803
+v -0.00021407 -0.05470266 0.01228936
+v -0.01596194 -0.05371742 0.01264354
+v -0.02005868 -0.05381580 0.01182983
+v -0.01782091 -0.05371742 0.01249824
+v -0.00295882 -0.05757045 0.00470803
+v -0.00434966 -0.05756912 0.00336577
+v -0.00021407 -0.05756520 0.00556352
+v -0.02005868 -0.05543206 0.00829346
+v -0.01815114 -0.05634382 0.00650165
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_23.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d311d36df1163d0fbb604b92ddff49885395f9c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_23.obj
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_24.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e739f40da20a4a4a37c0fb7dfb31ff65d148913
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_24.obj
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_25.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed3ae75e2d1d8288aa7db3d23f5f48ec0b9dfdbb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_25.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_26.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830b46a10c002cd29cfa521fd258dbe7718480d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_26.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_27.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aeec64c946d44afd501860df14611bc5ae507ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01633391 -0.04749093 0.00372015
+v 0.02104528 -0.04159248 0.00372017
+v 0.02801384 -0.04749093 0.00372015
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+v 0.02930729 -0.04444383 0.00372016
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+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_28.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6de23df73ca61f26c7dc161d5137844d2189ea5c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_28.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.02104454 -0.04159247 0.00372017
+v 0.02997537 -0.04159247 0.00372017
+v 0.02371249 -0.04159250 0.01064114
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+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_29.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad759b1bba0b82f9d9feec7081ea1ee5907ada7e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.03079947 0.03489376 0.00650142
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+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_3.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e8197c36863bd2dd35214fc58ff94ae7839c312
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_3.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_30.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca5c0ed45f177102b2be7e101216b6373e62f699
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_30.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_31.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4894ebcfd7e53bb9db693a86581bea66a744af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_31.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+f 21 29 22
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+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_32.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b543e229f75db87e051b03737b33248f8699733
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_32.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.00019257 0.05759139 0.00470912
+v -0.00019257 0.05758583 0.00562529
+v -0.00019257 0.05758807 0.00276154
+v -0.00481645 0.05759139 0.00470912
+v -0.00019257 0.05758027 0.00650175
+v -0.00295948 0.05758027 0.00650175
+v -0.00019257 0.04652660 0.00276150
+v -0.00295948 0.05758807 0.00276154
+v -0.00481645 0.05758695 0.00276154
+v -0.00667474 0.05758806 0.00470912
+v -0.00667474 0.05757805 0.00650175
+v -0.00019257 0.05749132 0.00829340
+v -0.00295948 0.05749022 0.00829340
+v -0.00110118 0.05749132 0.00829340
+v -0.00019257 0.05230855 0.01168204
+v -0.01372380 0.05134137 0.01072132
+v -0.01372380 0.04623533 0.00276150
+v -0.00651580 0.05758362 0.00276154
+v -0.00667474 0.05758362 0.00291553
+v -0.00853171 0.05758138 0.00470912
+v -0.00853171 0.05757360 0.00650175
+v -0.00667474 0.05748577 0.00829340
+v -0.00481645 0.05748910 0.00829340
+v -0.00019257 0.05733124 0.00921054
+v -0.00110118 0.05717781 0.01008603
+v -0.00019257 0.05374819 0.01251105
+v -0.01372380 0.05208954 0.01177888
+v -0.01372380 0.05730458 0.00276154
+v -0.00837144 0.05757361 0.00276154
+v -0.00853171 0.05757361 0.00291553
+v -0.01038868 0.05756138 0.00470912
+v -0.01038868 0.05756138 0.00650175
+v -0.00853171 0.05748132 0.00829340
+v -0.00481645 0.05717226 0.01008603
+v -0.00667474 0.05716781 0.01008603
+v -0.00019257 0.05717781 0.01008603
+v -0.00110118 0.05675759 0.01130436
+v -0.00019257 0.05675759 0.01130532
+v -0.00019257 0.05696326 0.01070875
+v -0.00019257 0.05466980 0.01232801
+v -0.01372380 0.05374819 0.01265535
+v -0.01372380 0.05240860 0.01195708
+v -0.01372380 0.05733570 0.00434014
+v -0.01224697 0.05746133 0.00276154
+v -0.00853171 0.05757250 0.00276154
+v -0.01038868 0.05754582 0.00276154
+v -0.01224697 0.05749023 0.00470912
+v -0.01224697 0.05749912 0.00650175
+v -0.01038868 0.05746687 0.00829340
+v -0.00853171 0.05715780 0.01008603
+v -0.00295948 0.05675537 0.01130145
+v -0.00667474 0.05675092 0.01129564
+v -0.00853171 0.05674536 0.01128886
+v -0.00853171 0.05563366 0.01213045
+v -0.00019257 0.05618395 0.01172951
+v -0.00019257 0.05563366 0.01213529
+v -0.01372380 0.05413507 0.01254495
+v -0.01372380 0.05734126 0.00470912
+v -0.01208803 0.05746911 0.00276154
+v -0.01372380 0.05735682 0.00613276
+v -0.01372380 0.05735904 0.00650175
+v -0.01224697 0.05740127 0.00829340
+v -0.01038868 0.05713223 0.01008603
+v -0.01038868 0.05673091 0.01126659
+v -0.01038868 0.05563366 0.01211979
+v -0.01372380 0.05576484 0.01182344
+v -0.01224697 0.05563366 0.01206556
+v -0.01372380 0.05726120 0.00829340
+v -0.01224697 0.05705664 0.01008603
+v -0.01224697 0.05669089 0.01119783
+v -0.01372380 0.05601052 0.01162201
+v -0.01372380 0.05688210 0.01018288
+v -0.01359268 0.05663308 0.01109130
+v -0.01372380 0.05644520 0.01124044
+v -0.01372380 0.05667754 0.01089179
+v -0.01372380 0.05662418 0.01106999
+f 1 2 5
+f 1 5 12
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+f 1 24 36
+f 1 36 39
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+f 1 55 56
+f 1 56 40
+f 1 40 26
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+f 1 15 7
+f 1 7 3
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+f 1 4 2
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+f 73 76 74
+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_33.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcaa48a645d3bdaf93dd71e4c9a960ed64e1bad9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_33.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.02070620 0.04282637 0.00378161
+v 0.02321394 0.04282634 0.01006520
+v 0.02973064 0.04282637 0.00378161
+v 0.02148726 0.02757612 0.00378155
+v 0.02403210 0.02757609 0.01083886
+v 0.02375335 0.04282634 0.01123667
+v 0.02973825 0.04282637 0.00400518
+v 0.02981626 0.04243522 0.00378161
+v 0.03037280 0.02757612 0.00378155
+v 0.02414150 0.02757609 0.01093432
+v 0.02491019 0.04282634 0.01190657
+v 0.02496061 0.02757609 0.01164525
+v 0.02975823 0.04282636 0.00470857
+v 0.02984575 0.04243521 0.00470857
+v 0.03013496 0.04054965 0.00378160
+v 0.03040134 0.02757611 0.00470851
+v 0.03037185 0.03301038 0.00378157
+v 0.02676721 0.03866405 0.01233611
+v 0.02676721 0.04054961 0.01233026
+v 0.02676721 0.04243518 0.01229343
+v 0.02676721 0.04282633 0.01226998
+v 0.02676721 0.02757608 0.01233356
+v 0.02977155 0.04282636 0.00586162
+v 0.02986668 0.04243521 0.00650137
+v 0.03018633 0.04054964 0.00650136
+v 0.03016350 0.04054964 0.00470856
+v 0.03030525 0.03866409 0.00378159
+v 0.03042417 0.02757611 0.00650131
+v 0.03039943 0.03301037 0.00470853
+v 0.03037089 0.03398526 0.00378157
+v 0.02862423 0.02757609 0.01186966
+v 0.02862423 0.03489591 0.01184960
+v 0.02862423 0.03677999 0.01184039
+v 0.02862423 0.03866406 0.01180355
+v 0.02846916 0.04243519 0.01163024
+v 0.02841208 0.04282634 0.01160009
+v 0.02977821 0.04282636 0.00650137
+v 0.02970400 0.04282635 0.00820792
+v 0.02974776 0.04257852 0.00835781
+v 0.03011498 0.04054963 0.00829332
+v 0.03030430 0.03866407 0.00829331
+v 0.03035948 0.03866408 0.00650135
+v 0.03033379 0.03866408 0.00470855
+v 0.03036233 0.03678002 0.00378159
+v 0.03038231 0.02757610 0.00829327
+v 0.03042227 0.03301037 0.00650133
+v 0.03038231 0.03301036 0.00829329
+v 0.03039753 0.03489593 0.00470854
+v 0.03042132 0.03489593 0.00650134
+v 0.03036994 0.03489594 0.00378158
+v 0.02875932 0.02757609 0.01178844
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+v 0.02975062 0.03301035 0.01116797
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+v 0.02974301 0.03489591 0.01116212
+v 0.02968307 0.03866406 0.01111272
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+v 0.02978962 0.04064666 0.01022010
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+v 0.03011498 0.03677999 0.01008611
+v 0.03037185 0.03678000 0.00829331
+v 0.03041560 0.03678001 0.00650135
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+v 0.03036613 0.03586784 0.00378158
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+v 0.02981151 0.02757609 0.01105239
+v 0.03014542 0.03301035 0.01008609
+v 0.03013686 0.03489591 0.01008610
+v 0.02941955 0.04257851 0.01022011
+v 0.02945951 0.04282634 0.00980059
+v 0.03015970 0.02757609 0.01008607
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+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_4.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5509ed4046e3bc7dd3e84a4c06fc9081ae70ff1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_4.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01967881 -0.01071816 -0.01587564
+v -0.01967881 0.00175517 -0.01587280
+v -0.01474834 -0.01035309 -0.01587285
+v -0.01474834 -0.01071816 -0.01587285
+v -0.02003653 -0.01071816 -0.01586726
+v -0.02003653 -0.00999047 -0.01586726
+v -0.01474834 0.00175517 -0.01587001
+v -0.02003653 0.00175517 -0.01586442
+v -0.01474834 -0.01071823 0.00241545
+v -0.02003653 -0.01071823 0.00337271
+v -0.01474834 0.00175507 0.01223922
+v -0.02003653 0.00175507 0.01221131
+v -0.01474834 -0.00371849 0.01089402
+v -0.02003653 -0.00570255 0.01095820
+v -0.01782082 0.00175506 0.01232294
+v -0.01474834 0.00095777 0.01262155
+v -0.02003653 -0.00281377 0.01240944
+v -0.01967881 0.00175506 0.01227829
+v -0.01474834 -0.00339372 0.01125404
+v -0.02003653 -0.00526423 0.01138520
+v -0.01596387 0.00095777 0.01258527
+v -0.01474834 -0.00092861 0.01263551
+v -0.02003653 -0.00317640 0.01238153
+v -0.01967881 -0.00281377 0.01243177
+v -0.01474834 -0.00282841 0.01179546
+v -0.02003653 -0.00503835 0.01158614
+v -0.01474834 -0.00170758 0.01231734
+f 1 2 3
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+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
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+f 2 15 11
+f 2 11 7
+f 3 7 11
+f 3 11 16
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+f 5 8 6
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+f 9 14 10
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+f 17 24 21
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+f 19 25 20
+f 20 25 26
+f 21 24 22
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+f 23 26 27
+f 25 27 26
+
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_5.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63acd7f3fc7ec5f415e3904ee036693a2b524e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_5.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.01933688 -0.02740409 -0.01587565
+v 0.01876840 -0.02740409 -0.01587289
+v 0.01876840 -0.01920591 -0.01587562
+v 0.01933688 -0.01412578 -0.01587836
+v 0.02119413 -0.02740409 -0.01583699
+v 0.01876840 -0.02740416 0.00256320
+v 0.01876840 -0.01349536 -0.01587560
+v 0.01933688 -0.01349536 -0.01587560
+v 0.02057428 -0.01349536 -0.01585075
+v 0.02119413 -0.01349536 -0.01583694
+v 0.02127632 -0.02740409 -0.01582594
+v 0.02403308 -0.02740419 0.01083127
+v 0.02392692 -0.01349546 0.01105500
+v 0.01876840 -0.01349543 0.00265438
+v 0.02243153 -0.01349536 -0.01566572
+v 0.02305252 -0.02732240 -0.01558293
+v 0.02305252 -0.02740409 -0.01558293
+v 0.02492004 -0.02740419 0.01160726
+v 0.02496114 -0.02740419 0.01164316
+v 0.02479676 -0.01349546 0.01164597
+v 0.02305252 -0.01349536 -0.01557735
+v 0.02313357 -0.02740409 -0.01555531
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_6.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e228a0030e34945b96b6b7275efa8c4e5a74b7a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_6.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_7.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a24bf481b9788ddc81cd0d3f870e2a7801d1b60
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_7.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_8.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17424c6a670055f927e876218de8188dc5e5c713
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_8.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_9.obj b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2615bb4004c94dab93f91ad36fb9ffe5cd5f99ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007_collision_9.obj
@@ -0,0 +1,676 @@
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diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/soap_dish_007.xml b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/soap_dish_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8d9f522376c46bfab0d7c531eca93634327b0cae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/soap_dish_007.xml
@@ -0,0 +1,82 @@
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/soap_dish_007.urdf b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/soap_dish_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b457029452dc2aedaaf2139c318e5bd646fa151d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/soap_dish_007.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_007">
+   <link name="soap_dish_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>80081f6d1f3a5c14b6e6d70683f0c651</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>dual soap dish</name>
+         <color>gray,brown</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular soap dish with two compartments and a slotted top surface</description>
+         <min_height>0.0284</min_height>
+         <max_height>0.0284</max_height>
+         <real_height>0.0284</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225549</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>NO: {"summary":"Top tray is split inconsistently and slats are segmented only on one compartment; this is not functionally coherent.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/soap_dish_007.usd b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/soap_dish_007.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/soap_dish_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d8d40dc27e8114ca555d48dd1305aa0d6483a537f087e8edcdff2f226dab61b
+size 128323174
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/textures/material_0.png b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49de5963a3cc6d090dc65633b0cf4b09889f7fd132e803f527acff32e7875518
+size 11793421
diff --git a/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/video.mp4 b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/video.mp4
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7631adeb021ae49a3718ba688a63a4d4c97310263040783ff42c28d5ebe3e4
+size 247158