diff --git a/.gitattributes b/.gitattributes
index ea562a43cdbae30ebc223a35d850f1d67e7f5290..eff1f2ebeb82843395d9ed3d84b24dc466d67238 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2301,3 +2301,5 @@ dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/sh
 dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/shampoo_bottle_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/soap_dish_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/soap_dish_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da49aff20134da83f093f4b2a6564a5d563e10b8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fe8f1ad074e4fbc37b65fc069c39d416370fb31
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67159335ad624803930f107de048379d13d696d5d3b36b1bd95dd94de5d3faad
+size 8979704
diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008.glb b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f9a25135ec0c74cbea34f51d888f00390c8b6be2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad2e37791eb1864aacff70f4e09105f5ce9f476bbbaee256e27eee74bbe86a15
+size 11801652
diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008.mtl b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..212baf596d03844b723d16f8158059365c39e00d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_008_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/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fa36e21ebc73bd1e37a141301e7d35c567c205f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008.obj
@@ -0,0 +1,102012 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_008_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008_collision.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..875265f2d9fad09c989e201711ff88b31dc0c119
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008_collision.obj
@@ -0,0 +1,16180 @@
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/soap_dish_008_geometry_Looks_material_0.png
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--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..2fe8f1ad074e4fbc37b65fc069c39d416370fb31
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+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008.obj
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b96c2610ac0f9810b3a29a13e239808e76baa454
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision.obj
@@ -0,0 +1,16180 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_0.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c05758fc9843bc950b7a97a90eb718b436ca3879
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_0.obj
@@ -0,0 +1,1690 @@
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_1.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b2583499f728529d8d8f978255e26d77a58405f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_10.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6bb5c85d448459fef52e1301d1249d3b4102079
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_10.obj
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_11.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d805858dd666987b0ffd3e10adb0ef2c00c7f56
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_12.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a67c0e92649da614998b89335174158cc7f6ca9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_13.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb4a76a70ac38f69b6864cbab7c2d1376bcb9d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_13.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+v -0.00838564 0.00067392 -0.01796458
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+
diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_2.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0ca7b7da5183d3d376eaf5ea212e6a4a91ace00
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_2.obj
@@ -0,0 +1,2173 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_3.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2712cd9605708bc541adf2637e5c1c21e4c4cce9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_4.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab98d8b4079dd34a67474c369e3ad1be9301a1c1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_4.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02547274 -0.02902142 0.00846769
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+
diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_5.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75283c9f9001bfe876c4061188702b802ff2b8f2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_5.obj
@@ -0,0 +1,1183 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_6.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ac94906a956e3b374cea01db05c92962e8ca24
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_6.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.02910129 -0.02777051 -0.01796349
+v -0.01049349 -0.01521052 -0.01796603
+v -0.00843270 -0.02777051 -0.01796349
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+v -0.00091785 0.00067104 0.00804024
+v -0.00449595 0.00067104 0.00804282
+v -0.02909577 0.00067104 0.00804799
+f 1 2 3
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+
diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_7.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb4697b508303a2cda60cd93e4b5021d28fcc8d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_7.obj
@@ -0,0 +1,2458 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_8.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b70fc7a01da0145d21102f7cf695c1661dd0aa0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_9.obj b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06ff61cb15bd12471ee0c9031a8f5e568af37a58
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/mesh/soap_dish_008_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/soap_dish_008.xml b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/soap_dish_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..11ebce3c1627c2c32f491af632ff7cb8cd8c5e02
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mjcf/soap_dish_008.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_008">
+  <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_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/soap_dish_008.urdf b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/soap_dish_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..35ec9c1eda0bca6fa2b18e9f746d3873981a3e13
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/soap_dish_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_008">
+   <link name="soap_dish_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>26d77a82c21b5463bc0c9101cfed7cf3</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 soap dish with rounded edges and smooth surface</description>
+         <min_height>0.0322</min_height>
+         <max_height>0.0322</max_height>
+         <real_height>0.0322</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225705</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>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/soap_dish_008.usd b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/soap_dish_008.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/soap_dish_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e92d913736f0b554a5e7bf9ee4e749b4798fd819363f70c3508c3bb680798e0c
+size 4608796
diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/textures/material_0.png b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fe8f1ad074e4fbc37b65fc069c39d416370fb31
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+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/video.mp4 b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/video.mp4
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/video.mp4
@@ -0,0 +1,3 @@
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