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+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/caption_candidates.json b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/caption_candidates.json
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/caption_candidates.json
@@ -0,0 +1,28 @@
+{
+  "raw": "soap_dish",
+  "uuid": "063be7c04ea851c78564ec1815dedd1a",
+  "seen": [
+    "gray soap dish with lower shelf",
+    "gray soap dish with rounded corners",
+    "gray soap dish with back tab",
+    "gray soap dish with curved top",
+    "rectangular gray soap dish holder",
+    "boxy gray soap dish holder",
+    "gray soap dish with blue inside",
+    "gray soap dish with side gap",
+    "gray soap dish with flap",
+    "gray soap dish with drip tray",
+    "gray soap dish with oval tab",
+    "gray soap dish with top cover",
+    "gray soap dish with front tray",
+    "tall gray soap dish stand",
+    "gray soap dish with wave pattern"
+  ],
+  "unseen": [
+    "gray soap dish with opening",
+    "gray soap dish with drainboard",
+    "gray soap dish with feet",
+    "gray soap dish with tray",
+    "two tier gray soap dish"
+  ]
+}
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/interaction.json b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/interaction.json
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/interaction.json
@@ -0,0 +1,109 @@
+{
+    "interaction": {
+        "active": {
+            "place": {
+                "body": [
+                    {
+                        "xyz": [
+                            0.00569900032132864,
+                            8.387863636016846e-05,
+                            0.005487555637955666
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ]
+                    }
+                ]
+            }
+        },
+        "passive": {
+            "pick": {
+                "body": [
+                    {
+                        "xyz": [
+                            0.00569900032132864,
+                            8.387863636016846e-05,
+                            0.005487555637955666
+                        ],
+                        "direction": [
+                            -1.0,
+                            -0.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            0.0,
+                            1.0
+                        ],
+                        "dir_axis": "-x",
+                        "ref_axis": "+z"
+                    },
+                    {
+                        "xyz": [
+                            0.00569900032132864,
+                            8.387863636016846e-05,
+                            0.005487555637955666
+                        ],
+                        "direction": [
+                            -0.0,
+                            -1.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            0.0,
+                            1.0
+                        ],
+                        "dir_axis": "-y",
+                        "ref_axis": "+z"
+                    },
+                    {
+                        "xyz": [
+                            0.00569900032132864,
+                            8.387863636016846e-05,
+                            0.005487555637955666
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ],
+                        "dir_axis": "-z",
+                        "ref_axis": "+x"
+                    },
+                    {
+                        "xyz": [
+                            0.00569900032132864,
+                            8.387863636016846e-05,
+                            0.005487555637955666
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            1.0,
+                            0.0
+                        ],
+                        "dir_axis": "-z",
+                        "ref_axis": "+y"
+                    }
+                ]
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4862ee5a64c89d34329d017c01dfcd7020af2aed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b933763cdf8e28e3835ffa42a2ebf087621b17a9bbf6caffe535471c32151006
+size 8945489
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020.glb b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7199204919a56374f5c78c8083bc651f5a7b9828026a647cbb1540896d82d1ea
+size 12216084
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020.mtl b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..104773a82399b65ac15c960f69596bbe32062c4b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_020_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/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5038684c51f633c9f8df89ba5e52de72f00bf6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020.obj
@@ -0,0 +1,111282 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_020_geometry_Looks_material_0
+v 0.00826800 0.01622313 -0.03548694
+v 0.00826800 0.01622313 -0.03548694
+v 0.00608600 0.01768813 -0.03554094
+v 0.00608600 0.01768813 -0.03554094
+v 0.00988300 0.01659313 -0.03547994
+v 0.00988300 0.01659313 -0.03547994
+v 0.02390000 0.02490801 -0.00171891
+v 0.02385600 0.02468599 0.00165609
+v 0.02391000 0.02495696 0.00960509
+v 0.02386400 0.02474394 0.01515409
+v 0.02388100 0.02481207 -0.01897491
+v 0.02385700 0.02468004 -0.01127291
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+v 0.02389100 0.02486202 -0.00564591
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020_collision.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0b31a22658cf9ef19848a5f8fc2882ac5b40179
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020_collision.obj
@@ -0,0 +1,19030 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020_geometry_Looks_material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 8945489
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..30d22737fe9a1d24cfc2f3c29d1c72acb154189b
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+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/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/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020.obj
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+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020.obj
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1744b37bc426fa34032f1ed2c59f1a1e0e21413c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision.obj
@@ -0,0 +1,19030 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_0.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e11ae04071c82debf6c1754e6d68cee37508cc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_0.obj
@@ -0,0 +1,181 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_1.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0312d00219a2a05a66a1a11008c6dfe9ad4c476b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_1.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_10.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11318932bca25e11b2bd0525a95a94e202b159bf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_10.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_11.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0666a096a0ab0eee0736b8858be6a4a82f65737
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_11.obj
@@ -0,0 +1,670 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_12.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1d8440db2d9f7781f33622043459bd9e9b709c4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_13.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb490c031c8a8d42aa70a3c7a5ca36c5819e7837
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_13.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_14.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f67b45335d4cabbf68a750fcdacae343f20baf2b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_14.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_15.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cc692664b13187960fda2a45d8e16adbf0ff7ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_15.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_16.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51c2f26a8476ce8aadcd6d010431081368805d84
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_16.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_17.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c21a2b6025b96d7ef27f42f17f60c9788de7632
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_17.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_18.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f015bc78f74e2868767b054a1daa971b4617ec8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_18.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_19.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb25c7339e549775a4aca3b2050fa74e7088e99
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_19.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_2.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c837f6dc95bdcce5f9def7acb830b963a69b7a85
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_2.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_20.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9d766b2c39196a211f6f98489ad5d408e16568e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_20.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_21.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b10a54c9942ac553f190e1b24d09fcf5d3454b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_21.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_22.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd564fc82e3cefbe964980291cfb8c5772ea2961
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_22.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_23.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09d46f90cfa2e943d1ea93461fbc3b5484ad6232
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_23.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_24.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..334542fdbdd72859ca4d0867a0a18d03b8f164fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_24.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_25.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616c134839a485193292c6f7ba75917689430066
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_25.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_26.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1060035a22db8bf7e6760e834d63c32a7679d328
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_26.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_27.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235892e3e7a7afc85053f3de763228c0349d131b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_27.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_28.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beab8f29397182631166fc75a63987a65f5925a6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_28.obj
@@ -0,0 +1,103 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_29.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2042b2ea00c840bfb46b85d2c4aa0ccbfab807f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_29.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_3.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80cd4e3171317ec3f9e30d7c110c1b9eb56b7098
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_3.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+v -0.01868838 -0.02672190 0.02636980
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+v -0.00360867 -0.01564443 0.02521039
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_30.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c7cdaded6d9d657bbc9fa5576b483ba920ab7dc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_30.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_31.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e943262394daa075b761140a3831a92d74bfa8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_31.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_32.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1f7be1e2d00d4977aa801f438fd097788b123e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_32.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_33.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3e4734c39260e00f101ef5f98c4c748ac990cf6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_33.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_34.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d969f7072f2e7798ec75fe2838bc736868ca889f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_34.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_35.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64e95267be0ce6f08b4606d7a153b9d1f90791a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_35.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_36.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f307a2ff6a3d1db5c9e555c2a19fb8931d448216
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_36.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_37.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a819ebab55e4c887ed5e1688d0cdc8cce76b2e17
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_37.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_38.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ca23305e0edd6299c33aba914e01501b2b82b4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_38.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_39.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2be5df0a0c16ae8e7e5b444c5c6141da72b0055
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_39.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_4.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dc4dc75c90e4a8ed775658a23ff6439e71e09a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_40.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aca20277a774deb6e2cbecff343630b29bdb1d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_40.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_41.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec3d437a8a5f487ae434a96bf75b9f3a95683de3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_41.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_42.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655d36483fdb9d02d5250a2ee4a92be3c9c6f2e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_42.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_43.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e24725c16db8edf8535c5dfa8bb67f201f6cce3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_43.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_44.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7434ba0c6429e2bc4a8aa825966b054cd99028e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_44.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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+v -0.00198933 -0.03068320 -0.01480922
+v -0.00095497 -0.03536677 -0.01480924
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_45.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9aeab3f21e2b0cf5347fd04d8ca85cce999cc90
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_45.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01523498 -0.03035211 0.02638000
+v -0.01633406 -0.03035213 0.03346292
+v -0.01523498 -0.03035205 0.01177829
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+v -0.01663192 -0.03035205 0.01059698
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+v -0.02189270 -0.03035205 0.01059698
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+v -0.02098664 -0.02672193 0.03585280
+v -0.01825600 -0.03035214 0.03577602
+v -0.02235363 -0.02946715 0.01059698
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+v -0.02318813 -0.02672184 0.01059699
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_46.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f63f98809ac840d4861bd897f8958f4c7ae89a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_46.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00198858 -0.03512687 -0.02315679
+v -0.00198858 -0.03514312 -0.02290510
+v -0.00198858 -0.02747738 -0.02315676
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+v -0.00198858 -0.03516168 -0.02260601
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+v -0.00198858 -0.02747741 -0.01543844
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+v -0.00198858 -0.03528850 -0.01806082
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_47.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e17aca1302ae92c4f796843f18adeb2fd0e3cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_47.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.01396644 -0.03505973 -0.01345750
+v 0.01396644 -0.03111749 -0.01345748
+v 0.01401780 -0.03505225 -0.01345750
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+v 0.01396644 -0.03595896 -0.00442162
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_48.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab1e902a0aafb3b1a605a8a72624ea1e691a55e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_48.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_49.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c76feb4645d20e7ba84add50ce6e9de477a7063
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_49.obj
@@ -0,0 +1,160 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_5.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98345e70f3680dd3fb1983581657a62fdd2b7f8b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_50.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00be12bf64f7208f83959c671e5aadd2df61e6ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_50.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_51.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d198827f0b9b6b6aa69ef61aa3e9eeb1e0147b06
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_51.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_52.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13fd67a150b9351a7a6885fc2502ac759afd9885
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_52.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_53.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43a2b49b7adf99cb6324e9f95957e2a39748cce2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_53.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_54.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7732debb9f2d1d0cd8e6a4afcde2762cb77edea2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_54.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_55.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe01a2f3db66b18876185a2038d8f5ee748faa11
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_55.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_56.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e9b9f637deb2d6f467ca74824dcc7d20c635736
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_56.obj
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_57.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba690ada7a01a1199ab7591060ae0472857d855
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_57.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_58.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4230a7cf4a5d2680a9a3d05d5b3da5cd772dc15
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_58.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_59.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6857ec7b7cddf4f36dd077bea35be0f9605f3897
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_59.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_6.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95baa62c9f7cd7a9e41ff6b5f11cc1cf44b6ed0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_6.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_60.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50687de30002f5ed174171954800ba8ff89c4e37
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_60.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_61.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad479d6325063ec88f7c1b192c87f7b93b1b228
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_61.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_62.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe79eff8c260f93836e93e2226112d466462226b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_62.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_63.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf3b9ad71aea83d12d5a76018379a3c78a2ca54
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_63.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.02569253 0.02801514 -0.00594136
+v 0.02522164 0.02889632 -0.00593755
+v 0.02524389 0.02893264 -0.00498708
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_64.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039003b31576eccc0189a33b8a0220ee4c3bef1d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_64.obj
@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_65.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4685ed839336830885b5372140bed7781908e32b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_65.obj
@@ -0,0 +1,733 @@
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_66.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0a0afc3b2e786ee4b07e1284fd301f38ef39898
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_66.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01472533 -0.01576656 -0.03291953
+v -0.01472253 -0.01386596 -0.03291952
+v -0.01470577 -0.02156266 -0.03291955
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_67.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e17ed862379955e81ec4c061383259a4ab93443b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_67.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00751542 0.02425361 -0.03291951
+v 0.00771222 0.02183402 -0.03291952
+v -0.01755114 0.02425361 -0.03291951
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_7.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b5bbffa321f78d94b7fbf4a10d6245b5bf9bd5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_7.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
+v 0.02589448 -0.00002353 0.03494233
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_8.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea766339dc78a89913240f5ce02053b91823ba8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_9.obj b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b4fb5c049a8748ad48bdacfc8c469a500586d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/mesh/soap_dish_020_collision_9.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/soap_dish_020.xml b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/soap_dish_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c969f120daa1e77a5021dcd8578d83277c5c2dac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mjcf/soap_dish_020.xml
@@ -0,0 +1,150 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_020_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_020_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_020_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soap_dish_020_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/soap_dish_020_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/soap_dish_020_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/soap_dish_020_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/soap_dish_020_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/soap_dish_020_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/soap_dish_020_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/soap_dish_020_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/soap_dish_020_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/soap_dish_020_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/soap_dish_020_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/soap_dish_020_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/soap_dish_020_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/soap_dish_020_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/soap_dish_020_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/soap_dish_020_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/soap_dish_020_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/soap_dish_020_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/soap_dish_020_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/soap_dish_020_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/soap_dish_020_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/soap_dish_020_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/soap_dish_020_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/soap_dish_020_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/soap_dish_020_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/soap_dish_020_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/soap_dish_020_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/soap_dish_020_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/soap_dish_020_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/soap_dish_020_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/soap_dish_020_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/soap_dish_020_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/soap_dish_020_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/soap_dish_020_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/soap_dish_020_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/soap_dish_020_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/soap_dish_020_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/soap_dish_020_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/soap_dish_020_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/soap_dish_020_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/soap_dish_020_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/soap_dish_020_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/soap_dish_020_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/soap_dish_020_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/soap_dish_020_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/soap_dish_020_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/soap_dish_020_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/soap_dish_020_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/soap_dish_020_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/soap_dish_020_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_020">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_67" 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/063be7c04ea851c78564ec1815dedd1a/soap_dish_020.urdf b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/soap_dish_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..93736db028ee5e7b5fd1d798454b0c9d3609684b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/soap_dish_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_020">
+   <link name="soap_dish_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>063be7c04ea851c78564ec1815dedd1a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>wall soap dish</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>gray wall-mounted double-layer soap dish with drain tray</description>
+         <min_height>0.0919</min_height>
+         <max_height>0.0919</max_height>
+         <real_height>0.0919</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518150324</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.027614 -0.036634 -0.040465</min>
+            <max>0.039012 0.036802 0.051440</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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":"Main tray, support frame, and dish are merged; side openings are inconsistent surface fragments.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/soap_dish_020.usd b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/soap_dish_020.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/soap_dish_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89dd484622d0c5b9ae18ca3e756ed285f0926bbabc93edbcfdd5329f10ca6634
+size 4874966
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/textures/material_0.png b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b933763cdf8e28e3835ffa42a2ebf087621b17a9bbf6caffe535471c32151006
+size 8945489
diff --git a/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/video.mp4 b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/video.mp4
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42d0872e34bb85c9ef85fe5cd23366ef93aabb4b1df5c3dfd3bed1a22b6e829a
+size 342410