diff --git a/.gitattributes b/.gitattributes
index a17c70891736a7373c27a3d639a92fc3949bcba0..52cbb6f69924397f7923b5c5d7e4d060bfa6a533 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2369,3 +2369,5 @@ dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/sh
 dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/soap_dish_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7833508e2b4993a87ea17fe5c02f01d008c188df
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..131a6b1e834c02c7d4a3292467d320e90e1a5396
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f8660221b17d2297425615b69dd74b56248aa401518e1818894b95a67a365a
+size 10018148
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.glb b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4d0ee398ff783abc919b57756b88320d3f4d0905
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ffbc2df04bb68de2407608c6f28feebbcdd4ac1dac167a22fddc37632607f0a
+size 13511404
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.mtl b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..080036f25fd4a61aca730b439909b3e6cc19728c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_009_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/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4233764059cb89737d92bd650058ad35892a38b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.obj
@@ -0,0 +1,111420 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009_collision.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dac5a5c9fa3de20b4d0b09c558f1266fbd71ef3a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009_collision.obj
@@ -0,0 +1,23502 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..131a6b1e834c02c7d4a3292467d320e90e1a5396
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10018148
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..131a6b1e834c02c7d4a3292467d320e90e1a5396
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f8660221b17d2297425615b69dd74b56248aa401518e1818894b95a67a365a
+size 10018148
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c3fc48c844925714f34731d9251269e8e9a1131
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..946798c0c2c534c6e3c2c257cfab19418ba813f8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision.obj
@@ -0,0 +1,23502 @@
+# https://github.com/mikedh/trimesh
+
+o soap_dish_009_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_0.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d2f2587a07d18d82c5ad78ebead38c9bc8a8b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_1.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f8aa696c15e61639e66b8af3847316e8effdd2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_10.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc0e93cce2df591bac3c91f57983f55aa59ab438
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_10.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_11.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb77efed00371b099673549270ba67884d081c6f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_11.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_12.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..450fb846854ea808f8881a92d906d5eaf57c3024
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_12.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_13.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7f4649ccadc9aabc0e9f19076f39b6c7318263
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_13.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_14.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ab4cc82527e7f7c0b27218a221bf06352450a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_14.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_15.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c84eedbf008be10bc657091a33c691a86beab423
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_15.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_16.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fa7d0ca03542e71ec9926a95a52249025904fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_16.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_17.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bd6da9d2656a28cedfc766be3d8117a6092e6bd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_17.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_18.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20103ce8c272392e415d5baa1c1be1974f7de96f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_18.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_19.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf93ced1ab736ffa5613f605299a0389f13766c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_19.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_2.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74a0f345f434cab576971e0fe3b0369f73c5b00
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_20.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f77dcec143e2b4ee01ddbdaf19e990ec985515fa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_20.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_21.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..064fddf564da15439bfdfd3f62ce2f7dcb1c9135
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_21.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_22.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04756f13e3194c4cd405a20ccb749068d49c7d7c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_22.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_23.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9463d8f2a444e32d4d7154c1d628fc943f9ee99
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_23.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_24.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..020a2219db0b39fda5cd7268e750115e13c39c71
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_24.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_25.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c8e43c80a2e14bb8caef4e5dce685652f8de71
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_25.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_26.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca81e7ae5f6072361994040d3503be03602c6b93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_26.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_27.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7935aaf80e05a92d8fcc6bf9d1c62336f5da1cff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_27.obj
@@ -0,0 +1,907 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_28.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a040a6797934e8b0f966d82fe4b82edb5866c0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_28.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_29.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d4780ef8a12ceac4ebc0c52a6c0a5563d34066f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_29.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_3.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1a2fa4b61c7ed88ec3d0f3c13adca13985fce8f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_3.obj
@@ -0,0 +1,967 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_30.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8941cd17eb941b954bbb2b8d71e8870f8f232c01
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_30.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_31.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eacad6c6a16e132f7be7b7f7b7fc7c37ba332cd1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_31.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_32.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fe859db1b2fb3934ce356140259550f7065d2ab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_32.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_33.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09b70b10f1b6c33516937bd88ddc398f397379ec
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_33.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_34.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d24660a622eb9efe76589b1c1ac71230ac79a579
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_34.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_35.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adc0a8b07e906dc88b774e80816ac8ae8f02049a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_35.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v -0.03588010 -0.01016426 0.04259333
+v -0.02674406 -0.01016426 0.04259333
+v -0.03588010 -0.01016427 0.04690409
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+f 1 2 3
+f 1 3 6
+f 1 6 4
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+f 1 5 2
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+f 2 6 3
+f 4 6 5
+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_36.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea1bb80c620aa659a3d5b9a4aa550cf0f99a8cb7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_36.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_37.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8720ded25738c69b6da54ffdf702288c064ec3c2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_37.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01186038 -0.02044173 0.04376467
+v 0.01186038 -0.01973644 0.04355673
+v 0.00661051 -0.01016425 0.04104760
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_38.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ef50cf6ba5dca1920b4e630b2b199ecc8105557
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_38.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_39.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ffbdba98567716e01b9af1df437424c6e35f15
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_39.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_4.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26dade2ea55e3b4e8d30ea259149fe4ec62cca2e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_4.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_40.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65d1d1c76b4ef58c80b7b403e58404c3fe445201
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_40.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_41.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fe2223f799682646d84eb0d114961ecec99c2c8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_41.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_42.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..402a56f371ed9f4bb907e3c6e45117cafb21c497
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_43.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d0d6b37ef6507585cbadf89396f343914c95212
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_43.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_44.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..260c42148aa3e93cb33b6ae5e41a56b546fb4aa1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_44.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_45.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b4f57a8c04aa2523b7d5ebca5d9ffbe0e4ab5f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_45.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_46.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c9a99f96f6d13c81d3f9d829e7f3356e79e255
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_46.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00517338 -0.00207271 0.04259394
+v 0.00517338 0.00292946 0.04259396
+v 0.00562579 -0.00207271 0.04259394
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+v 0.00670294 -0.00207272 0.04570740
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+v 0.00725808 -0.00015619 0.05197771
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+v 0.00864788 0.00113349 0.04642777
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+v 0.01040926 -0.00041630 0.05010621
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_47.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c3443757ba066db23a2e1cd7e9fb8b11b63f026
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_47.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00499952 -0.00079873 0.05359046
+v -0.00499952 -0.00082485 0.05359046
+v -0.00499952 -0.00042376 0.05344512
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+v -0.00504828 -0.00082485 0.05357647
+v -0.00499952 -0.00082481 0.04259295
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+v -0.00659534 -0.00082481 0.04259295
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+v -0.00835740 0.00031077 0.04377614
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_48.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..504c6a99b3091c437dc71fc0f15bea6e81bdb568
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_48.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00499952 0.00322684 0.04728090
+v -0.00839000 0.00322682 0.05156881
+v -0.00940768 0.00063643 0.05210417
+v -0.00499952 0.00031076 0.04556810
+v -0.00499952 0.00322685 0.04259296
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+v -0.00499952 0.00031077 0.04259295
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+v -0.01027511 0.00204452 0.05268399
+v -0.01168234 0.00204452 0.05258423
+v -0.01180691 0.00051197 0.05242618
+v -0.01070091 0.00031074 0.05242025
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_49.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d9df4d5771798b9f5832be3edc649a3b68c650
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_49.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00076586 -0.00518008 0.04259293
+v 0.00076586 0.00074613 0.04259295
+v 0.00314156 -0.00518008 0.04259293
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_5.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b12ff415cb94a2d9ad4ecee41851f99550ffbee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_5.obj
@@ -0,0 +1,850 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_50.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53cc150b4b1c0cd331a5adda857588bc76dc001
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_50.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00499952 0.00347987 0.04259296
+v -0.00499952 0.00347987 0.05364391
+v -0.00499952 0.00447987 0.04259296
+v -0.00499952 0.00447987 0.05364391
+v 0.00076543 0.00347987 0.04259296
+v 0.00076543 0.00347987 0.05364391
+v 0.00076543 0.00447987 0.04259296
+v 0.00076543 0.00447987 0.05364391
+f 2 4 1
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+f 1 4 3
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+f 2 8 4
+f 6 2 5
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+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_51.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..557f1fd34ea47315b37752eb87a224190ae3b4aa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_51.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00533400 0.00322685 0.04259296
+v -0.00511315 0.00358260 0.04259296
+v -0.00499952 0.00322685 0.04259296
+v -0.00572442 0.00322685 0.04304736
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_52.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..470a744712abe2847494d8a6a01d0ea90834afc8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_52.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00076543 0.00767731 0.05274998
+v -0.00042526 0.00767731 0.05290404
+v 0.00076543 0.00615222 0.05245502
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+
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_53.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1d2f8e2b201212c7b2990eb1f15823636c6e3ac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_53.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00746078 -0.00593636 0.05120253
+v -0.00666416 -0.00577075 0.05120253
+v -0.00663870 -0.00578977 0.05206382
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_54.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5776a066189943de1d5422bb865d8e16a2f74e46
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_54.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_6.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db244821d5d767564470490389a78f9fd1530e24
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_6.obj
@@ -0,0 +1,982 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_7.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af5dc66d3f833caa3c4b2df3ea171fd8cdfaab17
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_7.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_8.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6a712356e3ae2701ff7cf4b234b3c299440306e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_9.obj b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adaaf65bfc7622a5f7ce0dc82b380be5b7b83222
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/mesh/soap_dish_009_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/soap_dish_009.xml b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/soap_dish_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5a0086f7a100fbba0d39a7f27fc286e7459d5fc6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mjcf/soap_dish_009.xml
@@ -0,0 +1,124 @@
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+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/soap_dish_009.urdf b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/soap_dish_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..99c862f23dc2d49b10ce5b9f281147887085d5e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/soap_dish_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_009">
+   <link name="soap_dish_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_009.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_009_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>a8e333525cd4543a9a63666470390090</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>flower soap dish</name>
+         <color>pink,green</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>flower-shaped soap dish with petal design and green base</description>
+         <min_height>0.0547</min_height>
+         <max_height>0.0547</max_height>
+         <real_height>0.0547</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225735</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Decorative flower details are segmented, but the soap dish base/tray are merged despite clear functional difference.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/soap_dish_009.usd b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/soap_dish_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2aa4a8c9a848400bb4920261666b6ad3f360427e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/soap_dish_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d189de4cbf9261f2e4e714c3175c725a1e5b3b6f9a021018d25607f92e4186d
+size 5000126
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/textures/material_0.png b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..131a6b1e834c02c7d4a3292467d320e90e1a5396
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f8660221b17d2297425615b69dd74b56248aa401518e1818894b95a67a365a
+size 10018148
diff --git a/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/video.mp4 b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fad5e71f526b15db73d3e16e4720b6f27383e8a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9699c874db683020399bbec70c6529c910d84ce4a2b3122611c2bb613f2331b
+size 219763