diff --git a/.gitattributes b/.gitattributes
index 99e92c7049a8154f7c54048f4d4088ab5bdf5e86..d04bddfd4bd772e7898738392b8858f1e36917c3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2323,3 +2323,5 @@ dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/hand_sa
 dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/6daa9062bef15ffca2b830c65f6f723c/mesh/shampoo_bottle_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/6daa9062bef15ffca2b830c65f6f723c/shampoo_bottle_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/soap_dish_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4066d444db6d795c9afad2c4811e4c5e127fbb9b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_018_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc3ca800d4217680b8bd9822e2d8b174fe543f39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018.glb b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..316e18c622312e6247d0ee88a42333914a6129f8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018.glb
@@ -0,0 +1,3 @@
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+size 12515280
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018.mtl b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da9d17cc74253b60c11cd1fe83052142162d47e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_018_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
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d97d85b752145d8b4f5a01aa325c0f908736051
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018.obj
@@ -0,0 +1,109926 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_018_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018_collision.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a30d665f32f51283000882c26d0185ce7195afb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018_collision.obj
@@ -0,0 +1,22935 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018_geometry_Looks_material_0.png
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mesh/soap_dish_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9160181
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc3ca800d4217680b8bd9822e2d8b174fe543f39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:741df57e91cf71dd63dda29d473dbc3daa1c4b329d5c85d656214078e50fbf6f
+size 9160181
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018.obj
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index 0000000000000000000000000000000000000000..0fbe53c46bb81ffdfb459cb2c328c8534d3c1717
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+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_018_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05592cd3be16634f304a334e28225b311e3f3f93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision.obj
@@ -0,0 +1,22935 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_0.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8459d91291ee0b47c0840d21742f63008984154a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_1.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8942a9da7aac01d2a948239679a39c5b84df5d6d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_1.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_10.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..272845c4ef183f069696d3e64cf97d451b529147
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_10.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_11.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5106b696e102f184fd33fbd4a033d45a5ab32e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_11.obj
@@ -0,0 +1,640 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_12.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e57e4f461e4358072d44622f5f03b9d141d5897
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_12.obj
@@ -0,0 +1,109 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_13.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c2967615cf8ee6f12c8cb9cc702c5accc83addb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_13.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_14.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baaf93340fa672e263df021453a525a08bc57e73
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_14.obj
@@ -0,0 +1,238 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_15.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2802d018aece6fc6df3b7b188a0c67a071fa50e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_15.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00470471 -0.03548044 0.00483871
+v -0.00748655 -0.03408742 0.00481145
+v -0.00609563 -0.03548044 0.00473109
+v -0.00372388 -0.03689491 0.00457324
+v -0.00372388 -0.03548044 0.00475692
+v -0.00887747 -0.03130445 0.00472681
+v -0.00887747 -0.03269593 0.00480715
+v -0.00891053 -0.03411807 0.00436376
+v -0.00745755 -0.03549270 0.00431066
+v -0.00609563 -0.03653631 0.00422027
+v -0.00470413 -0.03695008 0.00434222
+v -0.00372388 -0.03773930 0.00408824
+v -0.00372388 -0.03434794 0.00424609
+v -0.00964950 -0.02603886 0.00401654
+v -0.00964950 -0.02851994 0.00443410
+v -0.00964950 -0.02992522 0.00460197
+v -0.00964950 -0.03130445 0.00471103
+v -0.00964950 -0.03266988 0.00452448
+v -0.00964950 -0.03375487 0.00415427
+v -0.00846913 -0.03503755 0.00411552
+v -0.00697438 -0.03629570 0.00402225
+v -0.00424069 -0.03765807 0.00399928
+v -0.00372388 -0.03916295 0.00024411
+v -0.00372388 -0.03391577 0.00317709
+v -0.00964950 -0.02387194 0.00177952
+v -0.00964950 -0.02448187 0.00304798
+v -0.00964950 -0.02450179 0.00308529
+v -0.00964950 -0.02523891 0.00353442
+v -0.00964950 -0.03625738 -0.00015335
+v -0.00718783 -0.03779752 0.00011641
+v -0.00620990 -0.03810401 0.00050240
+v -0.00441122 -0.03909705 -0.00000843
+v -0.00372388 -0.03941734 -0.00101431
+v -0.00372388 -0.03388206 0.00231471
+v -0.00907990 -0.02376462 -0.00981888
+v -0.00964950 -0.02385354 0.00132752
+v -0.00964950 -0.03632175 -0.00101430
+v -0.00887747 -0.03691328 -0.00101431
+v -0.00807529 -0.03750022 -0.00101431
+v -0.00737925 -0.03790479 -0.00101431
+v -0.00609563 -0.03856222 -0.00101431
+v -0.00529809 -0.03892235 -0.00101431
+v -0.00460205 -0.03916295 -0.00101431
+v -0.00372388 -0.03936983 -0.00135151
+v -0.00372388 -0.03386214 0.00177949
+v -0.00964950 -0.02376462 -0.00981888
+v -0.00964950 -0.02376465 -0.00394004
+v -0.00964950 -0.02383209 0.00038335
+v -0.00372388 -0.03347744 -0.00981891
+v -0.00964950 -0.03624664 -0.00180063
+v -0.00717855 -0.03778831 -0.00197283
+v -0.00656140 -0.03604280 -0.00981892
+v -0.00586594 -0.03642285 -0.00981892
+v -0.00470471 -0.03695921 -0.00981893
+v -0.00439788 -0.03909245 -0.00190252
+v -0.00372388 -0.03731168 -0.00981893
+v -0.00964950 -0.03341001 -0.00981891
+v -0.00685258 -0.03584204 -0.00981892
+v -0.00963499 -0.03342993 -0.00981891
+v -0.00962165 -0.03344679 -0.00981891
+v -0.00914429 -0.03393258 -0.00981891
+v -0.00893547 -0.03414406 -0.00981892
+v -0.00872492 -0.03435401 -0.00981892
+v -0.00824001 -0.03483367 -0.00981892
+v -0.00770812 -0.03523365 -0.00981892
+v -0.00748655 -0.03539763 -0.00981892
+v -0.00635085 -0.03615926 -0.00981892
+f 1 2 3
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+f 1 6 7
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+f 9 20 21
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+f 10 21 22
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+f 23 32 33
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 29 37 38
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+f 29 39 30
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+f 30 40 41
+f 30 41 32
+f 30 32 31
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+f 32 42 43
+f 32 43 33
+f 33 43 44
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+f 35 47 48
+f 35 48 36
+f 35 45 49
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+f 35 53 67
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+f 35 52 58
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+f 35 66 65
+f 35 65 64
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+f 35 57 46
+f 37 50 38
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+f 39 51 40
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+f 39 52 51
+f 40 51 41
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+f 41 54 42
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+f 44 55 56
+f 50 58 52
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+f 54 56 55
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_16.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b608dea54162de60b51772c598c31daf4556b055
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_16.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01515702 0.00033572 -0.01219112
+v 0.02590179 0.00002796 -0.01361642
+v 0.02513490 0.00002796 -0.01346311
+v 0.02445676 0.00002796 -0.01332731
+v 0.02303016 0.00002795 -0.01215999
+v 0.02303016 0.00002795 -0.01093431
+v 0.02370327 0.00002795 -0.01074520
+v 0.02451034 0.00002795 -0.01051952
+v 0.01515702 0.00079596 -0.01086427
+v 0.01515702 0.00095409 -0.01328178
+v 0.03226124 0.00002796 -0.01373937
+v 0.01515702 0.00211175 -0.01363003
+v 0.02590179 0.00002795 -0.01041329
+v 0.01515702 0.00211174 -0.01048604
+v 0.03226124 0.00002795 -0.01082808
+v 0.03226124 0.02887348 -0.01419763
+v 0.01515702 0.01742393 -0.01366110
+v 0.03226124 0.02887347 -0.01053420
+v 0.02590179 0.01463989 -0.01034126
+v 0.02312057 0.02299199 -0.01024356
+v 0.02172913 0.02299199 -0.01022916
+v 0.02033768 0.02299199 -0.01022644
+v 0.01894791 0.02299199 -0.01022527
+v 0.01755647 0.02299199 -0.01022411
+v 0.01616502 0.02299199 -0.01022333
+v 0.01515702 0.02299199 -0.01022294
+v 0.01515702 0.02299200 -0.01366731
+v 0.01515702 0.02887348 -0.01331553
+v 0.02451034 0.02887347 -0.01047894
+v 0.02451034 0.02856288 -0.01043771
+v 0.02590179 0.02020796 -0.01031750
+v 0.01515702 0.02887347 -0.01078322
+f 1 2 3
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+f 29 32 30
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_17.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975d87943a09a979d38079bd25a0c865ff5f8bda
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_17.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.02239578 -0.03133892 0.00439694
+v -0.02239578 -0.03133893 0.00868368
+v -0.02239578 -0.03130203 0.00438145
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+v -0.02140112 -0.03133892 0.00433705
+v -0.01583409 -0.03133893 0.00890633
+v -0.01504312 0.00006118 0.00761211
+v -0.02239578 0.00006118 0.00708296
+v -0.02139825 -0.03028465 0.00396574
+v -0.02239578 -0.02961768 0.00380932
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+v -0.02135794 -0.03133892 0.00434127
+v -0.01504312 -0.03133893 0.00888096
+v -0.01504312 0.00006120 0.00174920
+v -0.02239578 0.00006120 0.00312315
+v -0.02239578 -0.02954391 0.00378888
+v -0.02139825 -0.02958694 0.00377761
+v -0.02045829 -0.02938716 0.00383116
+v -0.01999983 -0.02987586 0.00404747
+v -0.01504312 -0.03081947 0.00520159
+v -0.01583409 -0.03133892 0.00525795
+v -0.01995665 -0.03133892 0.00452588
+v -0.02000703 -0.03133892 0.00451813
+v -0.01504312 -0.03133892 0.00542564
+v -0.01504312 -0.01320455 0.00170899
+v -0.02239578 -0.00246225 0.00312314
+v -0.02239578 -0.02858802 0.00363599
+v -0.02139825 -0.02851732 0.00355004
+v -0.01504312 -0.01877087 0.00171883
+v -0.01504312 -0.02003106 0.00199855
+v -0.01531373 -0.03133892 0.00536786
+v -0.01504312 -0.01459690 0.00170899
+v -0.02239578 -0.00385460 0.00312385
+v -0.02239578 -0.02752147 0.00347112
+v -0.02139825 -0.02712497 0.00334289
+v -0.02239578 -0.02712497 0.00341264
+v -0.02239578 -0.02573262 0.00329217
+v -0.02239578 -0.02473677 0.00324143
+v -0.02239578 -0.02434027 0.00322171
+v -0.02239578 -0.02334442 0.00319352
+v -0.02239578 -0.02294792 0.00318296
+v -0.02239578 -0.02195207 0.00316817
+v -0.02239578 -0.02155557 0.00316253
+v -0.02239578 -0.02055972 0.00315407
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+v -0.01504312 -0.01822070 0.00171531
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+v -0.02239578 -0.00485352 0.00312454
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+v -0.02239578 -0.01081635 0.00313086
+v -0.02239578 -0.00903057 0.00312876
+v -0.02239578 -0.01737852 0.00314071
+v -0.02239578 -0.01459690 0.00313649
+v -0.02239578 -0.01181220 0.00313227
+f 1 2 8
+f 1 8 15
+f 1 15 26
+f 1 26 33
+f 1 33 48
+f 1 48 53
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+f 1 52 56
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+f 1 55 54
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+f 49 54 50
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+f 51 55 56
+f 51 56 52
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_18.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..007c353f474b9132843eada60977841ece66b117
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_18.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00844775 0.00002796 -0.01397753
+v 0.01515702 0.00211263 -0.01362996
+v 0.01515702 0.00179209 -0.01353379
+v 0.01515702 0.00095448 -0.01328167
+v -0.00192039 0.00002796 -0.01363851
+v -0.00844775 0.00002795 -0.01056693
+v -0.00844775 0.02393032 -0.01401420
+v 0.01515702 0.01742362 -0.01366110
+v 0.01515702 0.00033445 -0.01219072
+v -0.00043701 0.00002796 -0.01334479
+v -0.00192039 0.00002795 -0.01042212
+v 0.00086153 0.02299443 -0.01026385
+v -0.00844775 0.02393031 -0.01053120
+v 0.01515702 0.02393032 -0.01340040
+v 0.01515702 0.02299444 -0.01366739
+v 0.01515702 0.00046080 -0.01182460
+v -0.00052943 0.00002795 -0.01045702
+v 0.00032548 0.00002795 -0.01070729
+v 0.00099786 0.00002795 -0.01090558
+v 0.00099786 0.00002795 -0.01223343
+v -0.00122029 0.00002795 -0.01043957
+v 0.01515702 0.00211262 -0.01048597
+v 0.01515702 0.02299443 -0.01022264
+v 0.01198923 0.02299443 -0.01022115
+v 0.01059827 0.02299443 -0.01022189
+v 0.00642538 0.02299443 -0.01022523
+v 0.00503211 0.02299443 -0.01022672
+v 0.00364115 0.02299443 -0.01022932
+v 0.00225250 0.02299443 -0.01023489
+v -0.00052943 0.02393031 -0.01040235
+v 0.01515702 0.02393031 -0.01057427
+v 0.01515702 0.00079537 -0.01086436
+v 0.01515702 0.00115803 -0.01075965
+v 0.01515702 0.02337814 -0.01036670
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_19.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b84ec8e4cf93f73199ca202a65c34d38d1b015
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_19.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_2.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa54483f4f64b274f6a00bc2da341754171b8fa7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_2.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+v -0.03071823 -0.03088719 0.02312869
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+v -0.03084996 -0.02952530 0.02312869
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_20.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4635754836098fc736e914c88dd1ac6e063c7c0d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_20.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_21.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..affe0b39ed8a809741cbda4a867d7d42b1eac32b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_21.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_22.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f47dd5da4280ea0960e11f27104c30bf82cfc4d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_22.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01583409 0.03196476 0.00922745
+v -0.01504312 0.03196476 0.00910309
+v -0.02241590 0.03196476 0.00900007
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+v -0.02241590 0.00006120 0.00312426
+v -0.01504312 0.01324922 0.00171370
+v -0.01583409 0.03196477 0.00548349
+v -0.01504312 0.03096856 0.00523623
+v -0.01583409 0.03174304 0.00538341
+v -0.02139832 0.03196477 0.00461299
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+v -0.01504312 0.01379573 0.00171296
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_23.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d32e0579470b8692474812b0c94a60eac24e94b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_23.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00964950 -0.02147764 -0.00902988
+v -0.00964950 -0.02147759 -0.02195669
+v -0.00844822 -0.02147763 -0.01054782
+v -0.00844822 -0.02123709 -0.01054782
+v -0.00844775 0.02163416 -0.01055338
+v -0.00964950 0.02163415 -0.00906974
+v -0.00964926 -0.02147759 -0.02275139
+v -0.00964950 -0.02038460 -0.02271851
+v -0.00844822 -0.02147758 -0.02354324
+v -0.00844775 0.00003184 -0.01056775
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+v -0.00844775 0.02163421 -0.02363027
+v -0.00964950 0.02163420 -0.02277124
+v -0.00888370 -0.02147758 -0.02335457
+v -0.00844775 0.00003188 -0.02313008
+v -0.00880971 -0.02147758 -0.02338744
+v -0.00880088 0.02163421 -0.02342302
+v -0.00923131 0.02163420 -0.02309570
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+f 13 18 14
+f 14 18 17
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_24.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f182e8a4b7c93fc3541e17b85c456c354bb59a4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_24.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.00629582 -0.02991978 -0.01870707
+v -0.00964950 -0.02991978 -0.01870707
+v -0.00739909 -0.02991979 -0.01604021
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_25.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..700afa7bffc483288562a2fc3560d64df19e6b74
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_25.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01515702 0.00002800 -0.02354741
+v 0.01616502 0.00002800 -0.02354801
+v 0.01515702 0.00002798 -0.01984562
+v 0.01515702 0.02887352 -0.02356368
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_26.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc20d9a978737aaf1f3b94de00cbb9fe0b5bd3c0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_26.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_27.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a87d97d9c1f4afdb65af59d4d678663df0f4e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_27.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_28.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1ab23187575049160dadfb5a403026317377403
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_28.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_29.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e414b22ca6a88da8bd65dc3f29260656753ff07d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_29.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_3.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa4893102cc89cfd40f41f3f76da099db8425b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_3.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_30.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1133aa914d5c05aabff476fe8d533198ccf0685
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_30.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.03564128 -0.02851834 0.00484285
+v 0.03527122 -0.02882623 0.00474092
+v 0.03564128 -0.02882623 0.00483320
+v 0.03703186 -0.02434063 0.00473818
+v 0.03703186 -0.02294807 0.00476436
+v 0.03703186 -0.02155550 0.00477676
+v 0.03703186 -0.02016576 0.00478365
+v 0.03703186 -0.01877319 0.00478641
+v 0.03703186 -0.01598805 0.00478780
+v 0.03703186 -0.01181317 0.00478919
+v 0.03703186 0.00002507 0.00478923
+v 0.03564128 0.00002507 0.00450963
+v 0.03433848 -0.02882623 0.00436352
+v 0.03675463 -0.02882623 0.00443376
+v 0.03703186 -0.02712577 0.00456600
+v 0.03703186 -0.02573320 0.00468309
+v 0.03801323 -0.02434063 0.00422855
+v 0.03804417 -0.02294807 0.00425473
+v 0.03806185 -0.02155550 0.00426713
+v 0.03807006 -0.02016576 0.00427403
+v 0.03807259 -0.01877319 0.00427540
+v 0.03807385 -0.01738062 0.00427679
+v 0.03807575 -0.01320574 0.00427818
+v 0.03807638 -0.01181317 0.00427819
+v 0.03807701 -0.00624573 0.00427821
+v 0.03807701 0.00002507 0.00427823
+v 0.03486452 0.00002508 0.00399862
+v 0.03405240 -0.02882622 0.00405636
+v 0.03702934 -0.02882623 0.00430980
+v 0.03785598 -0.02712576 0.00405499
+v 0.03795513 -0.02573320 0.00417208
+v 0.03711459 -0.02847880 0.00431670
+v 0.03940128 -0.02573318 0.00028100
+v 0.03939433 -0.02428130 0.00050551
+v 0.03950864 -0.02294805 0.00038294
+v 0.03953832 -0.02155548 0.00038294
+v 0.03955284 -0.02016574 0.00038295
+v 0.03955790 -0.01877317 0.00038295
+v 0.03807511 -0.01598805 0.00427679
+v 0.03955979 -0.01598803 0.00038296
+v 0.03956042 0.00002509 0.00038302
+v 0.03474580 0.00002508 0.00317771
+v 0.03368108 -0.02882622 0.00319413
+v 0.03370949 -0.02882622 0.00334839
+v 0.03762295 -0.02882622 0.00319826
+v 0.03777262 -0.02798729 0.00394343
+v 0.03930845 -0.02712575 0.00011708
+v 0.03966967 -0.02573318 -0.00101373
+v 0.03978145 -0.02434061 -0.00101373
+v 0.03984334 -0.02294805 -0.00101372
+v 0.03987302 -0.02155548 -0.00101372
+v 0.03988691 -0.02016574 -0.00101371
+v 0.03989070 -0.01877317 -0.00101371
+v 0.03955916 -0.01738060 0.00038296
+v 0.03989197 -0.01598803 -0.00101370
+v 0.03989260 -0.01320572 -0.00101369
+v 0.03989323 -0.01042058 -0.00101368
+v 0.03989386 -0.00485314 -0.00101366
+v 0.03989386 0.00002509 -0.00101364
+v 0.03470349 0.00002508 0.00177967
+v 0.03365392 -0.02882622 0.00229057
+v 0.03881651 -0.02882621 0.00037602
+v 0.03920804 -0.02819348 -0.00009779
+v 0.03777704 -0.02550153 -0.00922701
+v 0.03948464 -0.02712575 -0.00101374
+v 0.03919667 -0.02815957 -0.00183741
+v 0.03929456 -0.02712574 -0.00197239
+v 0.03770252 -0.02619923 -0.00922702
+v 0.03786419 -0.02434058 -0.00922701
+v 0.03791282 -0.02311750 -0.00922700
+v 0.03791913 -0.02294802 -0.00922700
+v 0.03794376 -0.02155545 -0.00922700
+v 0.03795197 -0.02016571 -0.00922699
+v 0.03795513 -0.01754723 -0.00922698
+v 0.03795702 -0.01476209 -0.00922697
+v 0.03795765 -0.01337235 -0.00922697
+v 0.03795386 -0.01877314 -0.00922699
+v 0.03795828 -0.01059003 -0.00922696
+v 0.03796018 -0.00067540 -0.00922692
+v 0.03796018 0.00002512 -0.00922692
+v 0.03451972 0.00002512 -0.00922692
+v 0.03344363 -0.02882618 -0.00922703
+v 0.03364255 -0.02882622 0.00177956
+v 0.03911016 -0.02882621 -0.00077822
+v 0.03924404 -0.02835166 -0.00101374
+v 0.03912910 -0.02882621 -0.00101375
+v 0.03712406 -0.02882618 -0.00922703
+v 0.03717206 -0.02868495 -0.00922703
+v 0.03721563 -0.02855501 -0.00922702
+v 0.03722763 -0.02851829 -0.00922702
+v 0.03751118 -0.02729238 -0.00922702
+v 0.03754970 -0.02712572 -0.00922702
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+f 66 68 67
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_31.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..967035206bbb6b63cda177de024adb4931276d01
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_31.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00844775 0.02163421 -0.02362924
+v -0.00880088 0.02163421 -0.02342404
+v -0.00844775 0.02200933 -0.02393615
+v -0.00844775 0.02163416 -0.01055338
+v -0.00923131 0.02163420 -0.02309571
+v -0.00845069 0.02299468 -0.02432515
+v -0.00844775 0.02298052 -0.02432157
+v -0.00964950 0.02163420 -0.02277096
+v -0.00844775 0.02393008 -0.01053196
+v -0.00964950 0.02393006 -0.00620308
+v -0.00964950 0.02163415 -0.00907057
+v -0.00853586 0.02393013 -0.02439473
+v -0.00844775 0.02393013 -0.02443041
+v -0.00844775 0.02299131 -0.02432515
+v -0.00964950 0.02299467 -0.02290479
+v -0.00923142 0.02393013 -0.02354893
+v -0.00964950 0.02393012 -0.02293868
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 13
+f 1 13 9
+f 1 9 4
+f 1 4 11
+f 1 11 8
+f 1 8 5
+f 1 5 2
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+f 3 6 7
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+f 8 11 10
+f 8 10 17
+f 8 17 15
+f 9 13 12
+f 9 12 16
+f 9 16 17
+f 9 17 10
+f 15 17 16
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_32.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e94db28ec5b39dbd5957b5ca4fd2ee338019bf2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_32.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01515209 -0.02882616 -0.01331663
+v 0.03225290 -0.02882616 -0.01419052
+v 0.01515209 -0.02882617 -0.01076300
+v 0.01515209 -0.02294800 -0.01366919
+v 0.03225290 -0.02882617 -0.01054880
+v 0.01515209 -0.01738055 -0.01366295
+v 0.01515209 -0.00206795 -0.01363102
+v 0.03225290 0.00002514 -0.01373831
+v 0.02420053 -0.02882617 -0.01045239
+v 0.01515209 -0.02294801 -0.01022028
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+v 0.02590141 -0.02016570 -0.01032329
+v 0.02312075 -0.02294801 -0.01023544
+v 0.02451024 -0.02851828 -0.01042673
+v 0.03225290 0.00002513 -0.01082819
+v 0.02590141 0.00002513 -0.01041341
+v 0.02590141 -0.00067539 -0.01040874
+v 0.01515209 -0.00122337 -0.01337795
+v 0.02590141 0.00002514 -0.01361624
+v 0.01894724 -0.02294801 -0.01021950
+v 0.01515209 -0.00206796 -0.01045462
+v 0.02172958 -0.02294801 -0.01022145
+v 0.02033841 -0.02294801 -0.01021989
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+v 0.01515209 -0.00026581 -0.01219112
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+v 0.02303035 0.00002513 -0.01093432
+v 0.02303035 0.00002513 -0.01216002
+v 0.02445667 0.00002514 -0.01332741
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+f 24 29 27
+f 24 27 30
+f 24 30 25
+f 27 29 31
+f 27 31 32
+f 27 32 33
+f 27 33 28
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_33.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b8cd9565318cb3cdbc2cdb5e228194372cb6673
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_33.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
+v -0.02341160 -0.03943818 0.02312624
+v -0.02341160 -0.03631377 0.02312625
+v -0.02418168 -0.03933828 0.02312624
+v -0.02341160 -0.03943183 0.02273847
+v -0.02729108 -0.03133898 0.02300001
+v -0.02733576 -0.03133898 0.02312626
+v -0.02341160 -0.03133894 0.00981579
+v -0.02521200 -0.03908855 0.02312624
+v -0.02418168 -0.03932560 0.02273847
+v -0.02341160 -0.03939219 0.02134069
+v -0.03065505 -0.03133898 0.02312626
+v -0.02341160 -0.03133892 0.00470083
+v -0.02540488 -0.03901641 0.02312624
+v -0.02517442 -0.03907983 0.02273847
+v -0.02418168 -0.03926772 0.02134069
+v -0.02341160 -0.03929229 0.01860284
+v -0.02341160 -0.03934541 0.01994291
+v -0.03054798 -0.03133898 0.02265552
+v -0.03039126 -0.03171159 0.02225693
+v -0.03050897 -0.03206597 0.02312626
+v -0.02341160 -0.03242267 0.00509581
+v -0.02372786 -0.03229186 0.00512286
+v -0.02412425 -0.03133892 0.00499661
+v -0.02590763 -0.03878967 0.02312624
+v -0.02487944 -0.03896249 0.01923049
+v -0.02504678 -0.03903781 0.02134069
+v -0.02425046 -0.03911153 0.01867859
+v -0.02418168 -0.03919874 0.01994291
+v -0.02341160 -0.03922965 0.01714915
+v -0.02896243 -0.03133896 0.01581091
+v -0.02903830 -0.03191770 0.01650349
+v -0.03046359 -0.03226100 0.02312626
+v -0.02341160 -0.03271679 0.00523830
+v -0.02354420 -0.03482880 0.00663426
+v -0.02407745 -0.03397021 0.00641604
+v -0.02418807 -0.03273265 0.00570903
+v -0.02465536 -0.03157279 0.00545653
+v -0.02437243 -0.03133892 0.00516615
+v -0.02693724 -0.03807457 0.02312624
+v -0.02586934 -0.03876589 0.02273847
+v -0.02562895 -0.03855261 0.01994291
+v -0.02476031 -0.03891492 0.01829984
+v -0.02373495 -0.03905920 0.01575137
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_34.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfece193de629231fcccb63c43121960228ac745
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_34.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_35.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed16e035ec21a916fa4a15bc26acf4b11ecd39ce
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_35.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_36.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..730d2857aff66c65226b77e19ce3fe9926332b85
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_36.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_37.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8483b6e59ae3ec5a5e23b4826615e58b83aa038
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_37.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_38.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cbcc0c1b20481e0747912db70551c8302f02015
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_38.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_39.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..551bab79e809c688d07446184cacfcdb6bf877a4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_39.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_4.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ede268319f00892b6315bb8d8f6a75e28e99b42
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_4.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_40.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58dd51fd6ea7e0a4e7f7e619e300fda31525fd1f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_40.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_41.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1649c1888674b9123d41eb91ca43e6b87a345cc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_41.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_42.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7be4b6ed96371db54a57cf4a25a2e20d9a20c7ad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_42.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_43.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d018568bd06165e8b9186042ccbec4b14d665f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_43.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_44.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e1ff0a16d44c74a3e6b5a4f01f8bb0a1a3c932
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_44.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_45.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade99c98acdf915038a81bcaf1b8804ca18e4f87
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_45.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_46.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f36c2078647521e30218f958c66bf0e30a8cd5de
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_46.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_47.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c427e4f56327b777d77698ee9be850fcec2ebac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_47.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_48.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e927635016f1413a655449b789d63d437b10404b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_48.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_49.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09b087297ccf06246f2e15ced8a14c2fa22c2acb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_49.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_5.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d88e67f76ed2187d394533be0092b92ba432278c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_5.obj
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+f 163 180 178
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+f 170 173 171
+f 171 173 172
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+f 176 181 182
+f 180 183 181
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_50.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98cb3db8bf7ca9e4f0a378b05395515daaf97f35
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_50.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00964950 0.02393031 -0.00985895
+v -0.00964950 0.03340712 -0.00985892
+v -0.00912496 0.02393031 -0.00985895
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+v -0.00964950 0.03628321 -0.00179790
+v -0.00765001 0.02990482 -0.00985893
+v -0.00765001 0.03067327 0.00178028
+v -0.00765001 0.03078306 0.00317738
+v -0.00964950 0.02415119 0.00178026
+v -0.00964950 0.02400889 -0.00326972
+v -0.00960291 0.03347083 -0.00985892
+v -0.00964754 0.03628592 -0.00179790
+v -0.00964950 0.03628728 -0.00176057
+v -0.00765001 0.03528568 -0.00985891
+v -0.00765001 0.03090098 0.00355215
+v -0.00964950 0.02475704 0.00317736
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+v -0.00964950 0.03635097 -0.00101392
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+v -0.00765001 0.03777547 -0.00101391
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+v -0.00887777 0.03274022 0.00480568
+v -0.00765001 0.03413626 0.00475830
+v -0.00964950 0.03196765 0.00474250
+v -0.00964950 0.03336505 0.00432322
+v -0.00964950 0.03271311 0.00452137
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_51.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60d1e2eb9aefacefb0f9817be8b7c08874b6c49
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_51.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00764959 0.02990433 -0.00985893
+v -0.00764959 0.03528594 -0.00985891
+v -0.00332702 0.03364896 -0.00985892
+v -0.00332702 0.03406855 0.00178026
+v -0.00332702 0.03412810 0.00315872
+v -0.00332702 0.03412904 0.00317742
+v -0.00764959 0.03067268 0.00178024
+v -0.00752855 0.03537573 -0.00985891
+v -0.00764959 0.03777633 -0.00101405
+v -0.00332702 0.03747393 -0.00985890
+v -0.00764959 0.03078231 0.00317740
+v -0.00332702 0.03449858 0.00420191
+v -0.00764959 0.03090140 0.00355295
+v -0.00715995 0.03563280 -0.00985891
+v -0.00764959 0.03767898 -0.00048886
+v -0.00718322 0.03783777 0.00010397
+v -0.00736731 0.03793889 -0.00101405
+v -0.00716714 0.03782265 -0.00196515
+v -0.00652938 0.03606851 -0.00985891
+v -0.00343409 0.03744274 -0.00985890
+v -0.00435540 0.03912600 -0.00188745
+v -0.00332702 0.03955886 -0.00101404
+v -0.00332702 0.03450520 0.00421630
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+v -0.00619844 0.03813265 0.00049534
+v -0.00438122 0.03913544 -0.00001690
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+v -0.00583364 0.03645413 -0.00985891
+v -0.00606386 0.03632653 -0.00985891
+v -0.00470454 0.03697962 -0.00985890
+v -0.00524370 0.03894641 -0.00101405
+v -0.00454796 0.03919404 -0.00101405
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+v -0.00764959 0.03136829 0.00417888
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+v -0.00332702 0.03923279 0.00038023
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+v -0.00609518 0.03657504 0.00421486
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+v -0.00332702 0.03782829 0.00415156
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+v -0.00332702 0.03691718 0.00465949
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+v -0.00470454 0.03552500 0.00483934
+v -0.00764959 0.03397025 0.00480911
+v -0.00748666 0.03413376 0.00480912
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_52.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7a471b83faa80574eedf370c10bc166dcfeab16
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_52.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.02936518 -0.03344307 0.04927932
+v -0.02936518 -0.03532773 0.04457372
+v -0.02936518 -0.03642792 0.04927931
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+v -0.02936518 -0.03892784 0.04457371
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+v -0.02936226 -0.03764299 0.04927930
+v -0.02405636 -0.03557175 0.04927931
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+v -0.02272076 -0.03704501 0.04457371
+v -0.02916447 -0.03899456 0.04457371
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+v -0.02696986 -0.03825145 0.04927930
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+v -0.02341045 -0.03608632 0.04897162
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+v -0.02839012 -0.03911748 0.04457371
+v -0.02915717 -0.03899208 0.04467504
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+v -0.02891487 -0.03894021 0.04560639
+v -0.02936518 -0.03824342 0.04788825
+v -0.02689104 -0.03826998 0.04927930
+v -0.02344038 -0.03626608 0.04927931
+v -0.02201574 -0.03746321 0.04472433
+v -0.02190991 -0.03826502 0.04457371
+v -0.02557295 -0.03955977 0.04457370
+v -0.02557295 -0.03953199 0.04509419
+v -0.02841274 -0.03907364 0.04512229
+v -0.02936518 -0.03864926 0.04649445
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_53.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea741b612f8cf66c511bdd06a76191f56912b6d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_53.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.02564024 -0.02882993 -0.01051628
+v 0.02564024 -0.02882992 -0.01361937
+v 0.02559199 -0.02882993 -0.01051207
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+v 0.01515208 -0.02882992 -0.01331664
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+v 0.01515208 -0.03524840 -0.00843095
+v 0.02564024 -0.03774163 -0.01560501
+v 0.01515208 -0.03813004 -0.01560501
+v 0.01515208 -0.02882993 -0.01076352
+v 0.02547290 -0.03806549 -0.00843096
+v 0.02564024 -0.03804209 -0.00861288
+v 0.01515208 -0.03839025 -0.00843096
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+v 0.02451093 -0.03788202 -0.01560501
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+v 0.02564024 -0.03779685 -0.01498481
+v 0.02451093 -0.03793724 -0.01498481
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+v 0.01755545 -0.03824422 -0.01358779
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_54.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..647f5d52540e6b3573697632670780842c9b684f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_54.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_55.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5414b82cac872d51d00d67605abf441b97054e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_55.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_56.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70be1c438ad7c48f76f64c690e1a31cfd7feb034
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_56.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_57.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b85a725176f2127eb64c38d153ee3aa947c1645
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_57.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_58.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b07ff32fbb9e534528033e680155bfe16bbfa988
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_58.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_59.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba9c124a5703118065a54d20c7b8c390ee06dd9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_59.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_6.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd6a3c60cca9a11ca81a6f6d65e3940193c5583d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_6.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_60.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f50840a1fe8b5184e9211c13754e057a7e6ba523
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_60.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_61.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4853dbaa06e1e1ee9ec73eb8d08f843e4be4fe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_61.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_62.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87471dfd31b74602875c15f2b7820d4adaee01ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_62.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_63.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f584bc6394657b83dba1086dc450366de6b97c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_63.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_64.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab80889963cae25cc6e255b35bbed45c66db6a93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_64.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_65.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..518bbca088e8fb21c6699b154d249fcdf5ab76ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_65.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_66.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8986b9be6dd4ce384042b0cafe6f25767324c127
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_66.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.00085423 -0.02725135 -0.01219164
+v 0.00048403 -0.02725134 -0.01275784
+v 0.00008975 -0.02725135 -0.01088940
+v 0.01515058 -0.02804862 -0.01219164
+v -0.00014200 -0.02725134 -0.01324245
+v -0.00022176 -0.02725135 -0.01080964
+v 0.01515058 -0.02842496 -0.01120354
+v 0.01515058 -0.02869687 -0.01327717
+v -0.00022176 -0.02725134 -0.01326437
+v -0.00022176 -0.02851958 -0.01044070
+v 0.00086176 -0.02851958 -0.01046262
+v 0.01515058 -0.02856744 -0.01083278
+v 0.01515058 -0.03479333 -0.01603997
+v -0.00022176 -0.02743189 -0.01333865
+v -0.00022176 -0.03426365 -0.00982035
+v 0.01515058 -0.03507180 -0.00982035
+v 0.01515058 -0.02991182 -0.01047663
+v 0.01515058 -0.02954527 -0.01057343
+v 0.01515058 -0.03809336 -0.01603998
+v -0.00022176 -0.03420272 -0.01603997
+v -0.00022176 -0.03805314 -0.00982036
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+v -0.00022176 -0.03774966 -0.01603998
+v -0.00022176 -0.03803139 -0.01057833
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+v 0.01515058 -0.03833702 -0.01079446
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+v 0.01338084 -0.03834029 -0.01079446
+v 0.01198883 -0.03836204 -0.00982036
+v 0.01338084 -0.03830440 -0.01219168
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_67.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ddf1e116240f3eeb2d1cf294600bc2ddde16d93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_67.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00964950 -0.02725133 -0.01603994
+v -0.00964950 -0.02725135 -0.00982032
+v -0.00964950 -0.02376307 -0.01603993
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+v -0.00876419 -0.02725135 -0.00982032
+v -0.00931324 -0.02376307 -0.01603993
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+v -0.00192275 -0.02712672 -0.01040539
+v 0.00236153 -0.02376309 -0.01049914
+v 0.00143860 -0.02376309 -0.01042608
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+v 0.00236153 -0.02434253 -0.01069152
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+v 0.00236153 -0.02512888 -0.01231218
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_68.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2aa4fa914096fd6bf2c400d72bef198a0bf17e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_68.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.00964950 -0.02991840 -0.01943550
+v -0.00485939 -0.02991840 -0.01943550
+v -0.00964950 -0.02991841 -0.01603995
+v -0.00964950 -0.02376306 -0.01943548
+v -0.00740004 -0.02991841 -0.01603995
+v -0.00521015 -0.02901995 -0.01943550
+v -0.00931374 -0.02376307 -0.01603993
+v -0.00964950 -0.02376307 -0.01603993
+v -0.00748070 -0.02376306 -0.01943548
+f 1 2 5
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+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 8 7
+f 4 7 9
+f 6 9 7
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_69.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..769dea4a5bb202576808d7ffe9444d384e4b9621
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_69.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.01384192 0.03839839 -0.00985890
+v 0.01489877 0.03839732 -0.00985890
+v 0.01338104 0.03837706 -0.01079368
+v 0.01059853 0.03839839 -0.00985890
+v 0.01515702 0.03839625 -0.00985890
+v 0.01515702 0.03837493 -0.01079368
+v 0.01477163 0.03833760 -0.01219099
+v 0.01338104 0.03833867 -0.01219099
+v 0.01198912 0.03837706 -0.01079368
+v 0.01059853 0.03837599 -0.01079368
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_7.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b24bb57ca23addcf5a958a3d4259609fd49e38e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_7.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_70.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1151cfacd9063a0ca12fefb675bda055e3a30297
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_70.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_71.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..102e76d856a6df6674d348155d73c375e3ebc6a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_71.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00214392 0.02393032 -0.01340575
+v 0.00214392 0.02393031 -0.01053809
+v 0.00214392 0.02398770 -0.01338945
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+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_72.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..262583c788fbf387afbe008a0f83747b60e845f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_72.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_73.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..831d142b0dee57353a11d3cfcfbe0280365eafa5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_73.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01515208 -0.02376306 -0.01984065
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+f 34 36 44
+f 36 45 44
+f 36 37 45
+f 37 39 46
+f 37 46 45
+f 38 46 39
+f 39 42 47
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 42 43 48
+f 42 48 47
+f 48 50 49
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_74.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9de50775b13a978e9f65331d95261fcc70de67da
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_74.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01515815 0.03817046 -0.01554465
+v 0.01515815 0.03810085 -0.01638244
+v 0.01515815 0.03478877 -0.01554466
+v 0.01616469 0.03816733 -0.01554465
+v 0.01515815 0.03804537 -0.01676846
+v 0.01616469 0.03809771 -0.01638244
+v 0.01515815 0.03374407 -0.01890374
+v 0.02672368 0.03383304 -0.01554467
+v 0.01755617 0.03816052 -0.01554465
+v 0.01515815 0.03789988 -0.01777953
+v 0.01616469 0.03789674 -0.01777953
+v 0.01755617 0.03809039 -0.01638244
+v 0.02672368 0.03282341 -0.01890374
+v 0.01515815 0.03763137 -0.01890372
+v 0.02672368 0.03670860 -0.01554466
+v 0.01811322 0.03815633 -0.01554465
+v 0.01515815 0.03784282 -0.01803863
+v 0.01755617 0.03788784 -0.01777953
+v 0.01755617 0.03768580 -0.01870512
+v 0.01616469 0.03768999 -0.01871794
+v 0.01515815 0.03769209 -0.01872287
+v 0.01894653 0.03807992 -0.01638244
+v 0.02672368 0.03703155 -0.01890372
+v 0.01616469 0.03762771 -0.01890372
+v 0.02672368 0.03764078 -0.01554662
+v 0.02640553 0.03769365 -0.01554465
+v 0.01894653 0.03815005 -0.01554465
+v 0.01894653 0.03787632 -0.01777953
+v 0.01894653 0.03767952 -0.01868769
+v 0.01755617 0.03761933 -0.01890372
+v 0.01654058 0.03762561 -0.01890372
+v 0.01894653 0.03760782 -0.01890372
+v 0.02033801 0.03785748 -0.01777953
+v 0.02033801 0.03806055 -0.01638244
+v 0.02672368 0.03733356 -0.01777329
+v 0.02590396 0.03719014 -0.01890372
+v 0.02672368 0.03762246 -0.01579224
+v 0.02667387 0.03762979 -0.01584287
+v 0.02591415 0.03769731 -0.01633805
+v 0.02590736 0.03776483 -0.01554465
+v 0.02033801 0.03813069 -0.01554465
+v 0.02033801 0.03767010 -0.01865843
+v 0.02033801 0.03758845 -0.01890372
+v 0.02172837 0.03782398 -0.01777953
+v 0.02172837 0.03765388 -0.01860648
+v 0.02172837 0.03809614 -0.01554465
+v 0.02172837 0.03802548 -0.01638244
+v 0.02672368 0.03744765 -0.01714790
+v 0.02591415 0.03749162 -0.01776441
+v 0.02638628 0.03758112 -0.01677438
+v 0.02548844 0.03725243 -0.01890372
+v 0.02451021 0.03757170 -0.01825827
+v 0.02672368 0.03761985 -0.01582216
+v 0.02672368 0.03761357 -0.01588956
+v 0.02545901 0.03765177 -0.01728863
+v 0.02451021 0.03786270 -0.01638244
+v 0.02451021 0.03793389 -0.01554465
+v 0.02509103 0.03786375 -0.01554465
+v 0.02086563 0.03757589 -0.01890372
+v 0.02311986 0.03796581 -0.01638244
+v 0.02319005 0.03773710 -0.01789790
+v 0.02277340 0.03763347 -0.01854236
+v 0.02172837 0.03755443 -0.01890372
+v 0.02311986 0.03803700 -0.01554465
+v 0.02672368 0.03752982 -0.01659353
+v 0.02451021 0.03737490 -0.01890372
+v 0.02420904 0.03740893 -0.01890372
+v 0.02370068 0.03760677 -0.01844273
+v 0.02451021 0.03770202 -0.01755956
+v 0.02305532 0.03749529 -0.01890372
+v 0.02332932 0.03747749 -0.01890372
+f 1 2 5
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+f 1 17 21
+f 1 21 14
+f 1 14 7
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+f 1 8 15
+f 1 15 26
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+f 1 40 58
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+f 37 53 38
+f 38 50 39
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+f 38 54 50
+f 39 50 55
+f 39 55 56
+f 39 56 57
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+f 39 58 40
+f 42 45 59
+f 42 59 43
+f 44 47 60
+f 44 60 61
+f 44 61 62
+f 44 62 45
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+f 45 63 59
+f 46 64 47
+f 47 64 60
+f 48 50 65
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+f 67 71 68
+f 68 71 70
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_75.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..805146016df5a4e0167b0e596bf819cb5d6286ee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_75.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.03248943 -0.01705804 0.05004175
+v -0.02744917 -0.01705805 0.05268865
+v -0.03248943 -0.01705806 0.05425304
+v -0.03248943 0.00904736 0.05003638
+v -0.02691494 -0.01705805 0.05306748
+v -0.02746785 0.00904735 0.05269299
+v -0.02906429 -0.01705806 0.05557861
+v -0.03242842 -0.00506073 0.05622841
+v -0.03248943 -0.00490741 0.05622841
+v -0.03248943 0.00904734 0.05425858
+v -0.02675368 -0.01705806 0.05318325
+v -0.02677173 0.00904734 0.05322698
+v -0.02835511 -0.01705806 0.05579499
+v -0.03232942 -0.00527538 0.05622841
+v -0.03248943 0.00486168 0.05622845
+v -0.02908484 0.00904734 0.05559567
+v -0.03248943 0.00494089 0.05621996
+v -0.03248383 0.00494089 0.05622845
+v -0.03232817 0.00529353 0.05622845
+v -0.03159719 0.00626712 0.05622845
+v -0.03134315 0.00650987 0.05622845
+v -0.02612855 -0.01705806 0.05388210
+v -0.02615221 0.00904734 0.05392583
+v -0.02716462 -0.01705806 0.05578954
+v -0.02835511 -0.00811181 0.05622840
+v -0.02963339 -0.00754197 0.05622840
+v -0.02966825 -0.00752408 0.05622840
+v -0.03060844 -0.00703601 0.05622840
+v -0.03127591 -0.00657094 0.05622841
+v -0.03137428 -0.00649172 0.05622841
+v -0.03207102 -0.00580689 0.05622841
+v -0.02837628 0.00904733 0.05581872
+v -0.03112274 0.00665042 0.05622845
+v -0.02965331 0.00753712 0.05622846
+v -0.02612855 -0.01705806 0.05460580
+v -0.02615221 0.00904734 0.05454528
+v -0.02646913 -0.01705806 0.05530465
+v -0.02663537 -0.00484864 0.05622841
+v -0.02679664 -0.00624130 0.05622841
+v -0.02721630 -0.00752153 0.05622840
+v -0.02835511 0.00904733 0.05582357
+v -0.02960848 0.00756012 0.05622846
+v -0.02638943 -0.01705806 0.05514221
+v -0.02662790 0.00489490 0.05622845
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+v -0.02718890 0.00904734 0.05580721
+v -0.02722502 0.00755501 0.05622846
+v -0.02650400 0.00904734 0.05525988
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+f 1 22 35
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+f 1 37 24
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+f 45 50 46
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+f 47 49 53
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+f 50 54 51
+f 51 54 52
+f 51 52 53
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_76.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7049c46632c03a9da5b2bd279d5772787c25433
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_76.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00964950 0.02393060 -0.01606814
+v -0.00964950 0.02669830 -0.01606813
+v -0.00931475 0.02393060 -0.01606814
+v -0.00964950 0.02393058 -0.00985895
+v -0.00964950 0.02669828 -0.00985894
+v -0.00885650 0.02669830 -0.01606813
+v 0.00214265 0.02393059 -0.01340602
+v -0.00912430 0.02393058 -0.00985895
+v -0.00886343 0.02669828 -0.00985894
+v -0.00052721 0.02669829 -0.01327412
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+v 0.00214265 0.02393058 -0.01053785
+v -0.00909660 0.02411780 -0.00985895
+v -0.00905042 0.02443020 -0.00985895
+v -0.00192273 0.02669828 -0.01040230
+v -0.00033790 0.02669829 -0.01280125
+v 0.00214265 0.02509999 -0.01290824
+v 0.00214265 0.02463179 -0.01318113
+v 0.00214265 0.02438712 -0.01067278
+v -0.00091851 0.02669828 -0.01065150
+v -0.00010589 0.02669828 -0.01219103
+v 0.00214265 0.02522733 -0.01230409
+v 0.00214265 0.02519833 -0.01129576
+v -0.00047296 0.02669828 -0.01079797
+f 1 2 6
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+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 15
+f 2 15 20
+f 2 20 24
+f 2 24 21
+f 2 21 16
+f 2 16 10
+f 2 10 6
+f 3 6 7
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+f 16 21 17
+f 17 21 22
+f 19 23 24
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+f 21 24 23
+f 21 23 22
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_77.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cd4a2afea11012127f711b762e38f70205b6e52
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_77.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.00490396 0.03616987 -0.01834097
+v -0.00490396 0.03604287 -0.01881042
+v -0.00509209 0.03609918 -0.01834097
+v -0.00490396 0.03176652 -0.01834098
+v -0.00490396 0.03589908 -0.01924366
+v -0.00616513 0.03524128 -0.01920364
+v -0.00605318 0.03555161 -0.01834097
+v -0.00877991 0.02393034 -0.01834101
+v -0.00490396 0.02393034 -0.01982496
+v -0.00490396 0.03524728 -0.02057261
+v -0.00574753 0.03503639 -0.02022004
+v -0.00667471 0.03475122 -0.01968707
+v -0.00693112 0.03493095 -0.01875579
+v -0.00700452 0.03498486 -0.01834097
+v -0.00964903 0.02393034 -0.01834101
+v -0.00490396 0.02393036 -0.02472274
+v -0.00490396 0.03510349 -0.02081273
+v -0.00522773 0.03473685 -0.02115196
+v -0.00616513 0.03448043 -0.02064122
+v -0.00718475 0.03376631 -0.02057452
+v -0.00817836 0.03343200 -0.01986876
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+v -0.00837950 0.03363090 -0.01893685
+v -0.00770966 0.03439296 -0.01834097
+v -0.00964903 0.02393035 -0.02294023
+v -0.00964903 0.03237999 -0.01834098
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+v -0.00490396 0.03436900 -0.02165126
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+v -0.00964903 0.02944683 -0.02155854
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+f 8 15 25
+f 8 25 41
+f 8 41 56
+f 8 56 71
+f 8 71 63
+f 8 63 46
+f 8 46 27
+f 8 27 16
+f 8 16 9
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 15 26 38
+f 15 38 55
+f 15 55 54
+f 15 54 53
+f 15 53 70
+f 15 70 69
+f 15 69 68
+f 15 68 79
+f 15 79 74
+f 15 74 73
+f 15 73 58
+f 15 58 42
+f 15 42 25
+f 16 27 28
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 20
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 23
+f 21 23 22
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 25 42 43
+f 25 43 41
+f 26 39 38
+f 27 44 45
+f 27 45 28
+f 27 46 44
+f 30 32 31
+f 30 47 32
+f 32 48 34
+f 32 34 33
+f 32 47 49
+f 32 49 48
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 36
+f 34 36 35
+f 34 48 49
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 38
+f 41 43 57
+f 41 57 56
+f 42 58 43
+f 43 58 59
+f 43 59 57
+f 44 60 45
+f 44 46 61
+f 44 61 60
+f 45 60 62
+f 46 63 61
+f 47 64 49
+f 49 64 65
+f 49 65 66
+f 49 66 67
+f 49 67 50
+f 50 67 51
+f 51 68 69
+f 51 69 70
+f 51 70 53
+f 51 53 52
+f 51 67 68
+f 56 57 71
+f 57 61 71
+f 57 59 72
+f 57 72 61
+f 58 73 59
+f 59 73 74
+f 59 74 67
+f 59 67 72
+f 60 72 75
+f 60 75 62
+f 60 61 72
+f 61 63 71
+f 62 75 76
+f 65 77 75
+f 65 75 72
+f 65 72 78
+f 65 78 67
+f 65 67 66
+f 67 78 72
+f 67 74 79
+f 67 79 68
+f 75 77 76
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_78.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35d2d8ba476f58013699b3ef1b560da77a885457
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_78.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02669717 -0.03275887 -0.01893878
+v 0.02669717 -0.03377842 -0.01560602
+v 0.02669717 -0.03698265 -0.01893880
+v 0.01515321 -0.03366168 -0.01893878
+v 0.02669717 -0.03758890 -0.01560604
+v 0.01515321 -0.03477639 -0.01560603
+v 0.02669717 -0.03715511 -0.01827551
+v 0.02613885 -0.03708886 -0.01893880
+v 0.01515321 -0.03757259 -0.01893880
+v 0.02669265 -0.03758996 -0.01560604
+v 0.02665875 -0.03758207 -0.01580995
+v 0.02669717 -0.03756945 -0.01584747
+v 0.01515321 -0.03813048 -0.01560604
+v 0.02669717 -0.03728603 -0.01776817
+v 0.02589812 -0.03744115 -0.01775252
+v 0.02590151 -0.03713355 -0.01893880
+v 0.01515321 -0.03764516 -0.01871956
+v 0.01572284 -0.03757102 -0.01893880
+v 0.01616475 -0.03764411 -0.01871531
+v 0.02590038 -0.03770984 -0.01560604
+v 0.02635924 -0.03753212 -0.01674143
+v 0.02589812 -0.03764779 -0.01631859
+v 0.02669717 -0.03748112 -0.01656916
+v 0.01515321 -0.03809683 -0.01600179
+v 0.01616475 -0.03806002 -0.01638287
+v 0.01616475 -0.03812575 -0.01560604
+v 0.02543134 -0.03760310 -0.01726899
+v 0.02451022 -0.03752264 -0.01823245
+v 0.02451022 -0.03731390 -0.01893880
+v 0.01515321 -0.03785600 -0.01777960
+v 0.01709944 -0.03756629 -0.01893880
+v 0.01616475 -0.03785285 -0.01777960
+v 0.01755604 -0.03764148 -0.01870716
+v 0.02451022 -0.03788230 -0.01560604
+v 0.02451022 -0.03781342 -0.01638287
+v 0.01515321 -0.03806423 -0.01638287
+v 0.01755604 -0.03784706 -0.01777960
+v 0.01755604 -0.03805266 -0.01638287
+v 0.01755604 -0.03811839 -0.01560604
+v 0.02451022 -0.03765358 -0.01753392
+v 0.02365352 -0.03755945 -0.01842886
+v 0.02326247 -0.03741906 -0.01893880
+v 0.01755604 -0.03756418 -0.01893880
+v 0.01845908 -0.03755577 -0.01893880
+v 0.01894733 -0.03763517 -0.01868660
+v 0.02389313 -0.03793068 -0.01560604
+v 0.02311893 -0.03792226 -0.01638287
+v 0.01894733 -0.03783444 -0.01777960
+v 0.01894733 -0.03804110 -0.01638287
+v 0.01832910 -0.03811260 -0.01560604
+v 0.02316188 -0.03769143 -0.01788987
+v 0.02272562 -0.03758626 -0.01853489
+v 0.02305338 -0.03743326 -0.01893880
+v 0.01894733 -0.03755104 -0.01893880
+v 0.01979612 -0.03753789 -0.01893880
+v 0.02033862 -0.03762465 -0.01865332
+v 0.02311893 -0.03799009 -0.01560604
+v 0.02250184 -0.03801901 -0.01560604
+v 0.02172764 -0.03798694 -0.01638287
+v 0.02172764 -0.03777976 -0.01777960
+v 0.02033862 -0.03781394 -0.01777960
+v 0.02033862 -0.03802164 -0.01638287
+v 0.01894733 -0.03810735 -0.01560604
+v 0.01972039 -0.03809683 -0.01560604
+v 0.02172764 -0.03760730 -0.01859949
+v 0.02219781 -0.03747427 -0.01893880
+v 0.02033862 -0.03752895 -0.01893880
+v 0.02172764 -0.03749372 -0.01893880
+v 0.02172764 -0.03805319 -0.01560604
+v 0.02111055 -0.03806896 -0.01560604
+v 0.02033862 -0.03808789 -0.01560604
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 29
+f 1 29 42
+f 1 42 53
+f 1 53 66
+f 1 66 68
+f 1 68 67
+f 1 67 55
+f 1 55 54
+f 1 54 44
+f 1 44 43
+f 1 43 31
+f 1 31 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 26
+f 2 26 39
+f 2 39 50
+f 2 50 63
+f 2 63 64
+f 2 64 71
+f 2 71 70
+f 2 70 69
+f 2 69 58
+f 2 58 57
+f 2 57 46
+f 2 46 34
+f 2 34 20
+f 2 20 10
+f 2 10 5
+f 3 7 8
+f 4 9 17
+f 4 17 30
+f 4 30 36
+f 4 36 24
+f 4 24 13
+f 4 13 6
+f 5 10 11
+f 5 11 12
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 18 19
+f 9 19 17
+f 10 20 11
+f 11 21 12
+f 11 20 22
+f 11 22 21
+f 12 21 23
+f 13 24 25
+f 13 25 26
+f 14 23 21
+f 14 21 15
+f 15 21 27
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 17 19 30
+f 18 31 19
+f 19 32 30
+f 19 31 33
+f 19 33 32
+f 20 34 22
+f 21 22 27
+f 22 34 35
+f 22 35 27
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 27 35 40
+f 27 40 28
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 30 32 36
+f 31 43 33
+f 32 33 37
+f 32 37 36
+f 33 43 44
+f 33 44 45
+f 33 45 37
+f 34 46 35
+f 35 46 47
+f 35 47 40
+f 37 45 48
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 38 50 39
+f 40 47 51
+f 40 51 41
+f 41 51 52
+f 41 52 53
+f 41 53 42
+f 44 54 45
+f 45 54 55
+f 45 55 56
+f 45 56 48
+f 46 57 47
+f 47 57 58
+f 47 58 59
+f 47 59 60
+f 47 60 51
+f 48 56 61
+f 48 61 62
+f 48 62 49
+f 49 63 50
+f 49 62 64
+f 49 64 63
+f 51 60 52
+f 52 60 65
+f 52 65 66
+f 52 66 53
+f 55 67 56
+f 56 67 68
+f 56 68 65
+f 56 65 61
+f 58 69 59
+f 59 69 70
+f 59 70 62
+f 59 62 60
+f 60 62 61
+f 60 61 65
+f 62 70 71
+f 62 71 64
+f 65 68 66
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_79.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a85cb0006b404eba80e937544d8bbaefc63087c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_79.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01444271 0.03018139 0.00848631
+v -0.01360535 0.03018139 0.00823619
+v -0.01493720 0.03018139 0.00845164
+v -0.01444271 0.02194804 0.00772354
+v -0.01322024 0.02995573 0.00736944
+v -0.01322206 0.03018139 0.00736944
+v -0.01331852 0.02194804 0.00719234
+v -0.01504312 0.03018139 0.00844421
+v -0.01489406 0.02194804 0.00767710
+v -0.01318403 0.02717126 0.00666241
+v -0.01318403 0.02855182 0.00615103
+v -0.01318403 0.02194804 0.00683264
+v -0.01318403 0.02438758 0.00682089
+v -0.01318403 0.02577943 0.00676888
+v -0.01318403 0.02963096 0.00510660
+v -0.01318403 0.02956809 0.00469923
+v -0.01339532 0.03018140 0.00594673
+v -0.01504312 0.03018140 0.00504965
+v -0.01504312 0.02194804 0.00766163
+v -0.01318403 0.02194806 0.00216210
+v -0.01378061 0.03018140 0.00519699
+v -0.01318403 0.02812146 0.00216212
+v -0.01504312 0.02994446 0.00498402
+v -0.01337731 0.02725831 0.00216212
+v -0.01504312 0.02194806 0.00392470
+v -0.01399682 0.02194806 0.00216210
+v -0.01504312 0.02916432 0.00482181
+v -0.01504312 0.02856310 0.00470727
+v -0.01504312 0.02499203 0.00424231
+v -0.01504312 0.02777168 0.00459150
+f 1 2 6
+f 1 6 17
+f 1 17 21
+f 1 21 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 5
+f 3 8 4
+f 4 9 19
+f 4 19 25
+f 4 25 26
+f 4 26 20
+f 4 20 12
+f 4 12 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 5 7 12
+f 5 12 13
+f 5 13 14
+f 5 14 10
+f 6 15 16
+f 6 16 17
+f 6 11 15
+f 8 18 23
+f 8 23 27
+f 8 27 28
+f 8 28 30
+f 8 30 29
+f 8 29 25
+f 8 25 19
+f 8 19 9
+f 10 14 13
+f 10 13 12
+f 10 12 20
+f 10 20 22
+f 10 22 16
+f 10 16 15
+f 10 15 11
+f 16 21 17
+f 16 22 21
+f 18 21 22
+f 18 22 24
+f 18 24 23
+f 20 26 24
+f 20 24 22
+f 23 24 27
+f 24 28 27
+f 24 26 28
+f 25 29 26
+f 26 29 30
+f 26 30 28
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_8.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a60bf39ba6464ff43a2ac44c80bc0f720a41ea55
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_8.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00844775 0.00002799 -0.02313123
+v -0.00748655 0.00002800 -0.02338768
+v -0.00844775 0.00002798 -0.01900050
+v -0.00844775 0.02393036 -0.02443037
+v -0.00821900 0.02393036 -0.02452054
+v -0.00748655 0.02393036 -0.02477757
+v -0.00609328 0.00002800 -0.02352293
+v 0.01515702 0.00002798 -0.01984597
+v -0.00844775 0.02393034 -0.01884877
+v -0.00702906 0.02393036 -0.02481739
+v -0.00470232 0.00002800 -0.02355162
+v -0.00609328 0.02299448 -0.02482911
+v 0.01515702 0.00002800 -0.02354752
+v 0.01515702 0.01185750 -0.01984300
+v 0.01515702 0.02393034 -0.01984295
+v -0.00609328 0.02393036 -0.02483027
+v -0.00401377 0.00002800 -0.02355279
+v -0.00331135 0.00002800 -0.02355396
+v 0.01515702 0.02393036 -0.02355387
+f 1 2 7
+f 1 7 11
+f 1 11 17
+f 1 17 18
+f 1 18 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 9 15
+f 4 15 19
+f 4 19 16
+f 4 16 10
+f 4 10 6
+f 4 6 5
+f 6 10 7
+f 7 10 12
+f 7 12 11
+f 8 13 19
+f 8 19 15
+f 8 15 14
+f 8 14 9
+f 9 14 15
+f 10 16 12
+f 11 12 17
+f 12 16 13
+f 12 13 18
+f 12 18 17
+f 13 16 19
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_80.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03791f56e4641a7b712276392efe8e3bbea2c388
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_80.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00307142 -0.02376308 -0.01343939
+v 0.00364359 -0.02433082 -0.01327980
+v 0.00236278 -0.02447840 -0.01321613
+v 0.00236278 -0.02378642 -0.01342124
+v 0.00236278 -0.02376308 -0.01342816
+v 0.01338049 -0.02376308 -0.01343853
+v 0.01515083 -0.02431567 -0.01328095
+v 0.00236278 -0.02448537 -0.01321181
+v 0.00236278 -0.02376309 -0.01049895
+v 0.01515083 -0.02376308 -0.01343795
+v 0.01515083 -0.02501167 -0.01273215
+v 0.00288863 -0.02503420 -0.01286525
+v 0.00236278 -0.02512784 -0.01232250
+v 0.00236278 -0.02423277 -0.01065164
+v 0.00283103 -0.02376309 -0.01049665
+v 0.01515083 -0.02376309 -0.01052603
+v 0.01515083 -0.02503326 -0.01254173
+v 0.00236278 -0.02512878 -0.01231156
+v 0.01515083 -0.02509042 -0.01203356
+v 0.00236278 -0.02434264 -0.01069110
+v 0.01515083 -0.02396285 -0.01060094
+v 0.00236278 -0.02513362 -0.01131336
+v 0.01515083 -0.02509042 -0.01137443
+v 0.00236278 -0.02507392 -0.01126381
+v 0.01515083 -0.02434264 -0.01074353
+v 0.01515083 -0.02488637 -0.01120216
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 13
+f 3 13 18
+f 3 18 22
+f 3 22 24
+f 3 24 20
+f 3 20 14
+f 3 14 9
+f 3 9 5
+f 3 5 4
+f 3 7 8
+f 6 10 7
+f 7 10 16
+f 7 16 21
+f 7 21 25
+f 7 25 26
+f 7 26 23
+f 7 23 19
+f 7 19 17
+f 7 17 11
+f 7 11 12
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 11 17 13
+f 11 13 12
+f 13 17 19
+f 13 19 18
+f 14 20 16
+f 14 16 15
+f 16 20 21
+f 18 19 22
+f 19 23 22
+f 20 24 25
+f 20 25 21
+f 22 23 26
+f 22 26 25
+f 22 25 24
+
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_81.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba42e081bd60158e23eba5a2783298a3d9c4161
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_81.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.03688963 -0.02882897 -0.01560601
+v 0.03656242 -0.02976622 -0.01560601
+v 0.03653049 -0.02968647 -0.01638284
+v 0.03682877 -0.02882897 -0.01638284
+v 0.03286836 -0.02882897 -0.01560601
+v 0.03627212 -0.03046251 -0.01560601
+v 0.03643073 -0.02944379 -0.01777957
+v 0.03623721 -0.03038276 -0.01638284
+v 0.03663524 -0.02882896 -0.01777957
+v 0.03175506 -0.02882896 -0.01893877
+v 0.02669930 -0.03275888 -0.01893878
+v 0.02669930 -0.03377760 -0.01560602
+v 0.03581223 -0.03130457 -0.01560601
+v 0.03574141 -0.03130457 -0.01638284
+v 0.03612946 -0.03014008 -0.01777957
+v 0.03635592 -0.02926543 -0.01854400
+v 0.03552094 -0.03130456 -0.01777957
+v 0.03640779 -0.02882896 -0.01881643
+v 0.03636789 -0.02882896 -0.01893877
+v 0.02669930 -0.03698206 -0.01893880
+v 0.02669930 -0.03758918 -0.01560604
+v 0.03518076 -0.03233357 -0.01560602
+v 0.03514385 -0.03228126 -0.01638285
+v 0.03503212 -0.03212262 -0.01777958
+v 0.03595788 -0.02983824 -0.01893877
+v 0.03495531 -0.03201543 -0.01850681
+v 0.03513886 -0.03143748 -0.01893878
+v 0.03521867 -0.03128398 -0.01893877
+v 0.03604567 -0.02966331 -0.01893877
+v 0.03628808 -0.02907850 -0.01893877
+v 0.03629107 -0.02907078 -0.01893877
+v 0.02669930 -0.03715442 -0.01827551
+v 0.02729386 -0.03686887 -0.01893880
+v 0.02729386 -0.03717071 -0.01777960
+v 0.02669930 -0.03756946 -0.01584747
+v 0.02735372 -0.03743312 -0.01560604
+v 0.03465304 -0.03302986 -0.01560602
+v 0.03461014 -0.03297755 -0.01638285
+v 0.03448046 -0.03281891 -0.01777958
+v 0.03439566 -0.03249306 -0.01893878
+v 0.03486852 -0.03188423 -0.01893878
+v 0.03365346 -0.03349376 -0.01872280
+v 0.02669930 -0.03728562 -0.01776817
+v 0.02753129 -0.03680370 -0.01893880
+v 0.02868549 -0.03678741 -0.01777960
+v 0.02868549 -0.03699665 -0.01638287
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_82.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54b1afcec4b9e63104106c09ce48bf6c82636644
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_82.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_83.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf48d7d775b58de7ed201335bb384636bc62279
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_83.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_84.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c978bd7ebb8b583662f9d922fd7da8843a06dc8c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_84.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_9.obj b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39d8f3c7981f9cbc56944742898078846ee64259
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/mesh/soap_dish_018_collision_9.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/soap_dish_018.xml b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/soap_dish_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d38482c5ec6f8ce9c3074251e2f74feda8660247
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/mjcf/soap_dish_018.xml
@@ -0,0 +1,184 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_018">
+  <asset>
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+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/soap_dish_018.urdf b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/soap_dish_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ba02cec3de6c966cfe8e3befe7b7ad4432ff1caa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/soap_dish_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_018">
+   <link name="soap_dish_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>6a06276eac2957aa90b488d5c8c223ff</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>hinged soap dish</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>blue rectangular hinged soap dish with slotted draining lid</description>
+         <min_height>0.0847</min_height>
+         <max_height>0.0847</max_height>
+         <real_height>0.0847</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518150213</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036564 -0.040217 -0.024316</min>
+            <max>0.039722 0.040262 0.060383</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/soap_dish_018.usd b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/soap_dish_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9adef7cc49cb16d825c40a8378e507f29987d972
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/soap_dish_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8eb2e1030a270be95e42b06c7997e4fe95f40d4b5297b93a73677fdd8aafd18
+size 4929611
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/textures/material_0.png b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc3ca800d4217680b8bd9822e2d8b174fe543f39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:741df57e91cf71dd63dda29d473dbc3daa1c4b329d5c85d656214078e50fbf6f
+size 9160181
diff --git a/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/video.mp4 b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e861c1fbadb0cafd7839ae2c7ef9b263b5a5009b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ebf84351a1cb21633d7ece8371ae5cd48f9e6db20c644159a7df466a87e3c5f
+size 312158