diff --git a/.gitattributes b/.gitattributes
index 1544495f8bf98b93d6b26dbdcb79c679c74d76cb..c93db35950af2a0be50b3eead4d15c4692d12476 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2445,3 +2445,5 @@ dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/hand_sa
 dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/mesh/hand_sanitizer_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/mesh/hand_sanitizer_024.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/mjcf/mesh/hand_sanitizer_024.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/soap_dish_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..28bca1ee5ba873ae37b318f3e0c9f21153a64c64
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_017_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..32385f022768c48d4dce09a9027ea7b2da07d472
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/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/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017.glb b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b6040051f0ea663c1e51809e5b1eaaae040e5e05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017.glb
@@ -0,0 +1,3 @@
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+size 13425032
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017.mtl b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb4cd636e7b5773d8bf27c7698ca2969a84ddf45
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_017_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc488e72e6ccd64f802b0cf0988106fe83f75235
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017.obj
@@ -0,0 +1,129986 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_017_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017_collision.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0df59fe7968ae9d27ebecf1a32afe22cf30ef9c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mesh/soap_dish_017_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5a4a3adf3823ed0cc89e34cb3770c3c76095c0e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_0.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc1baccd5db53cd2ff60d4c8da3519c74b4dff7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_0.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_1.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77833bfbb28c976598c2a620d759ba23872527d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_1.obj
@@ -0,0 +1,739 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_10.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1e84fa6d3b35fb924f7ab9ebb63c996b382f938
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_10.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_11.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d1e43e6897644eeb4e2735a8159d41b83961315
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_11.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_12.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa470c84b4f01420f667414daa3d896e316f8fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_12.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_13.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6c672b666dcc79a485fbdb9cc8e8875123cd35
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_13.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_14.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b6ad6f199c4c7d12ae9aea3508e0dcc4083e1f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_14.obj
@@ -0,0 +1,157 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_15.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..753ab4401aa7e4ad755c45f6e8c6835170eb6d27
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_15.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_16.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e03242ca67ef5bf5e332829aa640ae19c484a58
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_16.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_17.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..febb07b588aab131578362402a8eb05d89c79098
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_17.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_18.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4cf75d348441d7c0fc5cd4dd7ddf6e7a3942eaf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_18.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_19.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b17b5c98c353e5d7e43a6f40e27040b134f3b6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_19.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_2.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5813bab35a0eb3724fdf3b11c26c7b372120c2a4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_20.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba384760278d83bdbc993e0fa6e574f37b84923
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_20.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_21.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ba7bf1514cb8af976a43db68cf1bb2d71a35f5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_21.obj
@@ -0,0 +1,688 @@
+# https://github.com/mikedh/trimesh
+v 0.04036216 0.02838668 -0.02596200
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_22.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742accee5d9277926cbb9c2515bc7a84be5bf8c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_22.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_23.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3318894e2bad6fed28466ecfe887a8eb4ca5d669
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_23.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_24.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fd92b688e3d0a5e2371a8b2080b7c259c12cbf2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_24.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_25.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0525c2a0bd15aa3cd1528685f81cb271e7a1c7c3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_25.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_26.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46da280150f996a018bbaccf6d89499718063f06
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_26.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.03251062 0.00221738 -0.03310440
+v 0.03251062 0.00221737 -0.03053355
+v 0.03251062 0.00322576 -0.03315101
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_27.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2871f94ee1cba673bc81659862cfb1252580958
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_27.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_28.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28fdcd4ec3a753ef549ef0fe259e86ff8718ed9d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_28.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_29.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534d1511fe070f3284d939032b00e3b3d21082a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_29.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_3.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a1acd5f096bb61dc4e07a73e7819b3ab8eddc81
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_3.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_30.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38334d9f7c23e7e9cb6acaf539425c09fa3d5f09
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_30.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.03444382 0.00221467 -0.03045106
+v 0.03444382 -0.00328229 -0.03041266
+v 0.03444382 0.00221468 -0.03319854
+v 0.02939265 0.00221467 -0.03042069
+v 0.02802162 -0.00328229 -0.03028995
+v 0.02939265 -0.00328229 -0.03030421
+v 0.03444382 -0.01979687 -0.03041365
+v 0.03444382 0.00128073 -0.03320816
+v 0.03350575 0.00221468 -0.03321837
+v -0.01163011 0.00221467 -0.03033424
+v -0.01163011 -0.00328229 -0.03018429
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+v -0.01163011 -0.01016682 -0.03017131
+v -0.01163011 -0.01986803 -0.03016235
+v 0.02939265 -0.01979687 -0.03032534
+v 0.03444382 -0.02392700 -0.03042141
+v 0.03444382 -0.00009499 -0.03321993
+v 0.03350575 0.00084489 -0.03322892
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+v 0.02939265 0.00221468 -0.03324006
+v -0.01163011 0.00221468 -0.03280937
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+v -0.01163011 -0.02382026 -0.03023054
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+v 0.02253748 -0.00328228 -0.03329431
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+v -0.00899177 -0.00053084 -0.03332746
+v -0.00899177 0.00221468 -0.03331939
+v -0.01163011 0.00119178 -0.03287630
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_31.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cfb8f4909e25cf05d31878b14fbc8c65176891f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_31.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.03229372 -0.03479270 0.01844357
+v 0.03229372 -0.03690592 0.02115479
+v 0.03229372 -0.04024348 0.01844355
+v -0.00076602 -0.03516682 0.01844357
+v 0.03229372 -0.04093623 0.02115478
+v -0.00076602 -0.03741763 0.02115479
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+v -0.00189658 -0.03642015 0.01844357
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+v -0.00164010 -0.03779175 0.02115479
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+v 0.03229372 -0.04082096 0.02011179
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+v 0.03213510 -0.04042330 0.01873866
+v -0.00076602 -0.03963401 0.01844355
+v -0.00204508 -0.03765054 0.01844356
+v -0.00206532 -0.03759623 0.01882307
+v -0.00218344 -0.03906982 0.02115479
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+v -0.00161310 -0.03986211 0.02011179
+v -0.00192021 -0.03913920 0.01879653
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_32.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9377c1d1212c282eab34d133f46f4c13ba957c21
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_32.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.03444382 -0.02638810 -0.03316368
+v 0.03487853 -0.02638810 -0.03315182
+v 0.03444382 -0.02638811 -0.03063153
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_33.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90b80031232dfe2fea2e0e4b96c040acd5b4db60
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_33.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_34.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4653b1b60d4d7a9611c12946d253ed8973650941
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_34.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_35.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b883f04f0f2cd97f20edfdff127d466df04ad9c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_35.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_36.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b0cfb1bb020b82ba65ff4527b5bfc79ac1cda4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_36.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_37.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5599e2c427a8641c1f8f6e449428bc1c8c8e28ac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_37.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03187984 0.04131608 0.02165844
+v 0.03187984 0.03733920 0.02165843
+v 0.03187984 0.04116438 0.02036888
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_38.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2439c3bd3b0d0a67f486526576e7b5077e6e179
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_38.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.00681053 -0.04109891 -0.01834376
+v -0.00762292 -0.04099318 -0.01834376
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_39.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ce24706f4b5b55d22769a5d35225c27a8ccef6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_39.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_4.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc25d7a0a00f6d3a6c6b6d60e274a25955defee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_4.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_40.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ffcbe2b4b71c6f59649478d41a2b68a3705bfa3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_40.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_41.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63d861d2515bc9a81f39121e33b80a24b9a593b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_41.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_42.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a700ee11b6f0476e0ea8c4d51af7fac0eba4cc79
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_42.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v 0.03888451 -0.02277637 0.01844362
+v 0.03712349 -0.02136721 0.01798517
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+v 0.03755171 -0.02256723 0.01844362
+v 0.03646722 -0.02245692 0.01844362
+v 0.01359669 -0.02136721 0.01826308
+v 0.03915310 -0.02533455 0.01844361
+v 0.03866660 -0.02530521 0.01768861
+v 0.03879583 -0.02392920 0.01754951
+v 0.03625691 -0.02136720 0.01625428
+v 0.03621890 -0.02271835 0.01844362
+v 0.01359669 -0.02392921 0.01832037
+v 0.01359669 -0.02136720 0.01568065
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_43.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b31258b3bd784d29429b6e789a1148a8beeb2e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_43.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_44.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..801ad62233c57cd1e27116c4e9f2d13160ab1112
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_44.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.02940545 -0.04129273 -0.01834409
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+v 0.03076566 -0.04125869 -0.01834409
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_45.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c83c85cf7067b8556bba61497c6d0f1ff1461158
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_45.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_46.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f2c1d9e538cf0e68207659b902dc2f7e6f0427e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_46.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_47.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a192e144361c50686248e73f789100aa6e5b574d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_47.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_48.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aaac0badc0109badbed8fa7c3ca633f7597bbca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_48.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+v -0.01163059 -0.02225558 -0.03093276
+v -0.01651682 -0.02225559 -0.02790916
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_49.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139ad374945b1fb7e94915b91c5d518aaf1550ee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_49.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_5.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc77e01d97ee3df20ade3e792bf97ecab7eb1f5a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_5.obj
@@ -0,0 +1,916 @@
+# https://github.com/mikedh/trimesh
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+v -0.01163011 -0.03541549 -0.01596913
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_50.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eefba242b5f84d5b19ebeea79bab998923e393c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_50.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_51.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd701cf46550e51c4a9e63dc52b6d121c05675b6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_51.obj
@@ -0,0 +1,418 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_52.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..440ee729e1ac2414552b95609f8fb02944475101
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_52.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01165799 -0.03983427 0.02023203
+v -0.01165799 -0.03982191 0.02011176
+v -0.01145661 -0.03991873 0.02023203
+v -0.01165799 -0.03467910 0.02023205
+v -0.01122723 -0.03982603 0.01925201
+v -0.01143717 -0.03991358 0.02011176
+v -0.01165799 -0.03973024 0.01966587
+v -0.01134308 -0.03995684 0.02023203
+v -0.01128088 -0.03035617 0.01844359
+v -0.01165799 -0.03046844 0.01844359
+v -0.00495078 -0.03729428 0.02023204
+v -0.01165799 -0.03944493 0.01881820
+v -0.01082445 -0.03956647 0.01844355
+v -0.01036414 -0.03972818 0.01844355
+v -0.01036414 -0.03995890 0.01895860
+v -0.01036414 -0.04026584 0.02011176
+v -0.01036414 -0.04027820 0.02023203
+v -0.00481549 -0.03557005 0.01844357
+v -0.00373235 -0.03798644 0.02023204
+v -0.01165799 -0.03921627 0.01844356
+v -0.01165799 -0.03941197 0.01875483
+v -0.00927634 -0.03999495 0.01844355
+v -0.00911538 -0.04009795 0.01860654
+v -0.00899330 -0.04059235 0.02011176
+v -0.00899330 -0.04060574 0.02023203
+v -0.01024439 -0.04030704 0.02023203
+v -0.00400838 -0.03666907 0.01844357
+v -0.00371602 -0.03732827 0.01844356
+v -0.00387231 -0.03688022 0.01844356
+v -0.00371913 -0.03807914 0.02023204
+v -0.00804468 -0.04018447 0.01844355
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+v -0.00762325 -0.04081071 0.02011176
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+v -0.00380778 -0.03871671 0.01873855
+v -0.00382333 -0.03842316 0.01844356
+v -0.00379611 -0.03912872 0.02023204
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+v -0.00625164 -0.04042240 0.01873854
+v -0.00625164 -0.04086221 0.02011176
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+v -0.00388553 -0.03863534 0.01844356
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+v -0.00625164 -0.04025554 0.01844355
+v -0.00528669 -0.03998053 0.01844355
+v -0.00519727 -0.04005984 0.01873854
+v -0.00480305 -0.04020816 0.02023203
+v -0.00613189 -0.04083234 0.02023203
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+v -0.00478205 -0.04019271 0.02023203
+v -0.00480149 -0.04019992 0.02019982
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+f 47 57 48
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+f 48 54 49
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+f 49 53 50
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+f 55 59 58
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_53.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3bb473b94623588ce22e0c6ae46cbbc4707e59d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_53.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03673980 -0.00328296 -0.02931825
+v 0.03789015 -0.01016688 -0.02657585
+v 0.03789937 -0.00328297 -0.02657582
+v 0.03691335 0.00221187 -0.02931823
+v 0.03676476 -0.01979820 -0.02931831
+v 0.03788631 -0.01979821 -0.02657588
+v 0.03812629 0.00221186 -0.02657580
+v 0.03969477 0.00221187 -0.02931823
+v 0.03677474 -0.02392631 -0.02931833
+v 0.03789361 -0.02392632 -0.02657590
+v 0.04060131 0.00221186 -0.02657580
+v 0.03981227 0.00221187 -0.02901244
+v 0.03981649 -0.00328296 -0.02931825
+v 0.03703468 -0.02530421 -0.02931833
+v 0.03806985 -0.02541322 -0.02657590
+v 0.04065813 -0.00328297 -0.02657582
+v 0.04024806 -0.00328297 -0.02795683
+v 0.03986487 -0.00328296 -0.02918267
+v 0.03981457 0.00221187 -0.02900572
+v 0.03986948 -0.01016687 -0.02918350
+v 0.03981994 -0.01016687 -0.02931828
+v 0.03715217 -0.02550265 -0.02931833
+v 0.03827450 -0.02601413 -0.02657591
+v 0.04066236 -0.01016688 -0.02657585
+v 0.04025037 -0.01016688 -0.02795686
+v 0.03986679 -0.02392631 -0.02916234
+v 0.03980305 -0.02392631 -0.02931833
+v 0.03770124 -0.02613710 -0.02931834
+v 0.03873909 -0.02624332 -0.02657591
+v 0.04065890 -0.01979821 -0.02657588
+v 0.04023578 -0.02392632 -0.02795691
+v 0.03982033 -0.02507223 -0.02905764
+v 0.03974315 -0.02469492 -0.02931833
+v 0.03779032 -0.02613989 -0.02931834
+v 0.04004879 -0.02633555 -0.02657591
+v 0.03887885 -0.02628804 -0.02657591
+v 0.03882510 -0.02628524 -0.02657591
+v 0.04064815 -0.02394030 -0.02657590
+v 0.04055024 -0.02530422 -0.02657590
+v 0.03960876 -0.02532098 -0.02931833
+v 0.03967365 -0.02598897 -0.02864018
+v 0.03953428 -0.02552501 -0.02931833
+v 0.03879784 -0.02615387 -0.02931834
+v 0.04054525 -0.02531820 -0.02657590
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+f 32 41 42
+f 32 42 40
+f 34 43 35
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+f 39 44 41
+f 41 43 42
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_54.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b1e373cfcf45b39b25820c146f88b7a37dacadb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_54.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02828441 -0.00576070 -0.02713669
+v -0.02806947 -0.00576070 -0.02766169
+v -0.01719566 -0.00576070 -0.02713669
+v -0.02828441 0.01307554 -0.02713662
+v -0.02795983 -0.00328079 -0.02792805
+v -0.02795875 -0.00576070 -0.02793011
+v -0.01719566 -0.00576070 -0.02717625
+v -0.01719566 0.00125864 -0.02713667
+v -0.02048809 0.01307554 -0.02713662
+v -0.02795983 0.01307554 -0.02791780
+v -0.02741924 -0.00576069 -0.02861665
+v -0.01910837 -0.00576069 -0.02874555
+v -0.01719566 -0.00485724 -0.02780324
+v -0.01719566 -0.00067366 -0.02798964
+v -0.02060750 0.01307555 -0.03007492
+v -0.02059230 0.01307555 -0.02998028
+v -0.02049135 0.01307555 -0.02933004
+v -0.02047723 0.01307554 -0.02795696
+v -0.02738884 0.01307555 -0.02860475
+v -0.02673318 -0.00576069 -0.02877247
+v -0.02270367 0.00910401 -0.03074067
+v -0.02270367 0.00772853 -0.03074190
+v -0.02133264 0.00635122 -0.03130403
+v -0.02133264 0.00497574 -0.03124121
+v -0.01928423 -0.00576069 -0.02881531
+v -0.01985957 0.00082720 -0.03029076
+v -0.01933525 0.00035334 -0.02998196
+v -0.01719566 -0.00345226 -0.02831885
+v -0.01719566 -0.00465626 -0.02790400
+v -0.01719566 -0.00176150 -0.02822421
+v -0.02026664 0.00772853 -0.03057342
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+v -0.01719566 -0.00181313 -0.02823522
+v -0.02270367 0.01307555 -0.03058156
+v -0.02270367 0.01048132 -0.03068845
+v -0.02133264 -0.00576069 -0.02926443
+v -0.02133264 0.00360027 -0.03106459
+v -0.02133264 0.00772853 -0.03122774
+v -0.02015700 0.00635122 -0.03065665
+v -0.02004953 0.00497574 -0.03066440
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+v -0.01996161 -0.00576069 -0.02904375
+v -0.02030681 -0.00052799 -0.03013983
+v -0.01924407 0.00127156 -0.03005416
+v -0.01719566 -0.00328079 -0.02834781
+v -0.02133264 0.00910401 -0.03105233
+v -0.01925601 0.00313379 -0.03004640
+v -0.02254518 0.01307555 -0.03058442
+v -0.02059230 -0.00128026 -0.03003336
+v -0.01923647 0.00222480 -0.03006721
+v -0.01983894 0.00359474 -0.03050981
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+f 1 42 25
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+f 1 12 7
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_55.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f29fdd70a0792305863c11413a9561392a70dd5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_55.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01165892 0.04012843 0.02011964
+v -0.01165892 0.04012722 0.02011154
+v -0.01211082 0.03993641 0.02011154
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+v -0.01165892 0.03497432 0.02011962
+v -0.01165892 0.03974318 0.01881552
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+v -0.01318341 0.03945515 0.02011153
+v -0.01318341 0.03945515 0.02011963
+v -0.01318341 0.03245256 0.02011961
+v -0.01165892 0.02771287 0.01784716
+v -0.01165892 0.03971523 0.01876225
+v -0.01165892 0.03904073 0.01770559
+v -0.01272718 0.03664660 0.01323220
+v -0.01318341 0.03505090 0.01323220
+v -0.01318341 0.03111451 0.01956531
+v -0.01318341 0.03082283 0.01931514
+v -0.01318341 0.03015320 0.01870489
+v -0.01196247 0.02771288 0.01736502
+v -0.01165892 0.02771288 0.01618363
+v -0.01165892 0.03827024 0.01701914
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+v -0.01304208 0.03525751 0.01323220
+v -0.01167787 0.02771288 0.01619105
+v -0.01318341 0.03028568 0.01657002
+v -0.01318341 0.03015199 0.01869612
+v -0.01318341 0.02999279 0.01725175
+v -0.01318341 0.03002560 0.01717286
+v -0.01303894 0.03527088 0.01323220
+v -0.01165892 0.03105254 0.01580940
+v -0.01165892 0.03758116 0.01644463
+v -0.01165892 0.03663322 0.01598609
+v -0.01165892 0.03655666 0.01597058
+v -0.01165892 0.03517972 0.01584381
+v -0.01165892 0.03112910 0.01580872
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
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+f 1 5 11
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+f 1 20 30
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_56.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..801b536793939dfaf040a3f9cc0fda2c1431c45c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_56.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.04214917 0.02969618 0.03109836
+v 0.04214788 0.02975216 0.03109836
+v 0.04214659 0.02969618 0.03115456
+v 0.04214595 0.02969619 0.02835228
+v 0.04214659 0.02975216 0.02972458
+v 0.04207260 0.03112853 0.03109836
+v 0.04208097 0.02975215 0.03247215
+v 0.04207196 0.03112853 0.02972458
+v 0.04208226 0.02969617 0.03247215
+v 0.04214402 0.02969619 0.02697850
+v 0.04214338 0.02975217 0.02697850
+v 0.04189181 0.03250489 0.02972459
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_57.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9dfd3da1e63e4614c1fa3c3b3180abcf96102a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_57.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_58.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940f448773677aac84ad8049165600c4301b90d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_58.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+v -0.01163059 -0.00834110 -0.03103635
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_59.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9250c910864730fa9a8277b755d71603f0851a79
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_59.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.03444443 -0.03983752 -0.03014457
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_6.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bab3901c714ebd845be3fd79dc8a6462e965339e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_6.obj
@@ -0,0 +1,874 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_60.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4518ce5105621dd4dca98ef0c9512c164d919440
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_60.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_61.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27677aa132b706316107ca497badfe1479bbce70
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_61.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_62.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cce3527646213d04bf2825448a5060b86dfa6b9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_62.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_63.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..622bd3ea2c4cb61686a6e7f7a9668b4065cf9677
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_63.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_64.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a47092ff19b2f93fcaa320fc01e5a3d63183a452
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_64.obj
@@ -0,0 +1,148 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_65.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a6bcc46bf45050f6f9ed452cbe71da32250a3d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_65.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_66.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e6db5c094df7d595538c363697012f389843be
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_66.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_67.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..958d29a51476e7c7fa54a9945ae0b4e4a09cbf22
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_67.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_68.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c4c2cfb8306fbef87ec6e8d04975e320796a500
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_68.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_69.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7dce498264068d13fc903f6b1dfd01eeabb5b8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_69.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_7.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cc12847fb83fdc4fb690b3563beac6c269507f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_7.obj
@@ -0,0 +1,385 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_70.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f251b4139a8ef60b68a2798ddea616988064ebe6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_70.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_71.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7e9d56f5e7165214a40a884fdf1be2b009d99c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_71.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+v -0.01396965 0.01885663 0.01999075
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_72.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e77858dc7dfadbed30ecca98253e972ef1e02c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_72.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_73.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43084d35edaa76b9ae733e6153375f796d745944
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_73.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+f 49 75 50
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+f 109 119 110
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+f 112 119 113
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_74.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494260103b3fb6a1c248df62b2f31b7ef8beff63
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_74.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01441807 -0.01889745 0.02182200
+v -0.01424956 -0.01889745 0.02096514
+v -0.01689677 -0.01889745 0.02182200
+v -0.01427928 -0.01980055 0.02182200
+v -0.01424956 -0.01889743 0.01687059
+v -0.01424956 -0.01980055 0.02159363
+v -0.01660179 -0.01889745 0.02061068
+v -0.01747945 -0.02011021 0.01668725
+v -0.01747945 -0.02003635 0.01750745
+v -0.01747945 -0.02002081 0.01776412
+v -0.01742002 -0.02075938 0.02182199
+v -0.01424956 -0.03009236 0.02182196
+v -0.01528151 -0.01889743 0.01763546
+v -0.01424956 -0.01980053 0.01665187
+v -0.01747945 -0.02229218 0.01580464
+v -0.01747945 -0.02094594 0.01618933
+v -0.01747945 -0.02039138 0.01636689
+v -0.01656733 -0.01889745 0.02048460
+v -0.01634633 -0.01889744 0.01989213
+v -0.01587051 -0.01889744 0.01872455
+v -0.01541113 -0.01889744 0.01775511
+v -0.01747945 -0.02107553 0.02182199
+v -0.01424956 -0.03084776 0.02182196
+v -0.01721957 -0.02392995 0.01558270
+v -0.01747945 -0.02366822 0.01556211
+v -0.01424956 -0.03213308 0.01623947
+v -0.01652718 -0.02838330 0.01530221
+v -0.01721957 -0.02530600 0.01543796
+v -0.01747945 -0.03213310 0.02182195
+v -0.01634475 -0.03213310 0.02182195
+v -0.01424956 -0.03213310 0.02181938
+v -0.01747945 -0.02504556 0.01543603
+v -0.01644308 -0.03213308 0.01525137
+v -0.01657017 -0.02838330 0.01530221
+v -0.01747945 -0.03213308 0.01535945
+v -0.01747945 -0.02642030 0.01538648
+v -0.01679844 -0.03213308 0.01525137
+v -0.01682500 -0.03213308 0.01525395
+v -0.01747945 -0.02764993 0.01537169
+f 1 2 5
+f 1 5 13
+f 1 13 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 7
+f 1 7 3
+f 1 3 11
+f 1 11 22
+f 1 22 29
+f 1 29 30
+f 1 30 23
+f 1 23 12
+f 1 12 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 23
+f 2 23 31
+f 2 31 26
+f 2 26 14
+f 2 14 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 6
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 8
+f 5 8 13
+f 7 18 8
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+f 8 16 15
+f 8 15 25
+f 8 25 32
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+f 8 36 39
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+f 8 35 29
+f 8 29 22
+f 8 22 10
+f 8 10 9
+f 8 18 19
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+f 8 20 21
+f 8 21 13
+f 10 22 11
+f 14 24 25
+f 14 25 15
+f 14 26 27
+f 14 27 28
+f 14 28 24
+f 23 30 31
+f 24 28 25
+f 25 28 32
+f 26 31 30
+f 26 30 29
+f 26 29 35
+f 26 35 38
+f 26 38 37
+f 26 37 33
+f 26 33 27
+f 27 32 28
+f 27 33 37
+f 27 37 34
+f 27 34 32
+f 32 34 36
+f 34 37 36
+f 35 39 38
+f 36 37 38
+f 36 38 39
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_75.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ffb9792f22ef33f259b8d6880c442556129960c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_75.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01165902 -0.03213397 0.01583136
+v -0.01173587 -0.03213397 0.01584195
+v -0.01165902 -0.03081099 0.01581313
+v -0.01165902 -0.03213398 0.01862962
+v -0.01424956 -0.03213397 0.01623901
+v -0.01173587 -0.03081099 0.01582666
+v -0.01165902 -0.02851474 0.01617079
+v -0.01165902 -0.03211043 0.01862962
+v -0.01346086 -0.03213399 0.02182260
+v -0.01424956 -0.03074153 0.01640255
+v -0.01424956 -0.03213399 0.02181907
+v -0.01424956 -0.02999102 0.01661314
+v -0.01165902 -0.02805605 0.01660786
+v -0.01165902 -0.03073396 0.01849375
+v -0.01392977 -0.03065213 0.02182261
+v -0.01423992 -0.03213399 0.02182260
+v -0.01165902 -0.02936906 0.01824786
+v -0.01424956 -0.03084854 0.02182261
+v -0.01424956 -0.02941136 0.01719609
+v -0.01424956 -0.02926926 0.01856963
+v -0.01179926 -0.02805605 0.01736551
+v -0.01165902 -0.02805605 0.01758081
+v -0.01424956 -0.03009363 0.02182261
+v -0.01424956 -0.02928123 0.01873434
+v -0.01424956 -0.02953473 0.02004494
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 17
+f 1 17 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 5 11 18
+f 5 18 23
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+f 5 20 19
+f 5 19 12
+f 5 12 10
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+f 9 18 16
+f 9 14 17
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+f 11 16 18
+f 12 19 13
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+f 13 20 21
+f 13 21 22
+f 15 17 22
+f 15 22 23
+f 20 24 21
+f 21 24 25
+f 21 25 22
+f 22 25 23
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_76.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b65df9b930f7fbc9145990f595b7495b9800b38d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_76.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01743067 0.02067524 -0.02713659
+v -0.01441937 0.02067524 -0.02713659
+v -0.01712743 0.02067524 -0.02801332
+v -0.01619049 0.01461186 -0.02933070
+v -0.01694572 0.01461185 -0.02713662
+v -0.01163011 0.02067525 -0.03041564
+v -0.01415987 0.02016115 -0.02713660
+v -0.01673051 0.02067525 -0.02914488
+v -0.01555620 0.01461186 -0.03060145
+v -0.01540175 0.01351524 -0.03037132
+v -0.01677878 0.01350704 -0.02713662
+v -0.01163011 0.02067526 -0.03258165
+v -0.01163011 0.02038138 -0.03025624
+v -0.01163011 0.02015968 -0.03018440
+v -0.01414851 0.01461185 -0.02713662
+v -0.01527342 0.02067525 -0.03080405
+v -0.01508432 0.02011654 -0.03131315
+v -0.01505650 0.01461186 -0.03128847
+v -0.01414056 0.01355021 -0.03161121
+v -0.01459313 0.01307555 -0.03078948
+v -0.01522799 0.01307555 -0.03016421
+v -0.01564990 0.01307555 -0.02942050
+v -0.01611667 0.01307554 -0.02819128
+v -0.01618822 0.01307554 -0.02799876
+v -0.01647839 0.01307554 -0.02713662
+v -0.01262384 0.02067526 -0.03231335
+v -0.01163011 0.02011654 -0.03287073
+v -0.01163011 0.01460218 -0.03020294
+v -0.01447559 0.01307554 -0.02713662
+v -0.01427571 0.02067526 -0.03170773
+v -0.01439950 0.02011654 -0.03178744
+v -0.01437167 0.01461187 -0.03176613
+v -0.01315875 0.01307556 -0.03184190
+v -0.01388730 0.01307556 -0.03140466
+v -0.01458746 0.01307555 -0.03079454
+v -0.01310708 0.01461187 -0.03239140
+v -0.01163011 0.01405091 -0.03279329
+v -0.01371411 0.02067526 -0.03197265
+v -0.01163011 0.01461187 -0.03287019
+v -0.01223544 0.01461187 -0.03270180
+v -0.01221726 0.02011654 -0.03268662
+v -0.01163011 0.01307555 -0.03065702
+v -0.01310708 0.02011654 -0.03239700
+v -0.01176866 0.01307556 -0.03232910
+v -0.01163011 0.01307556 -0.03234033
+v -0.01174198 0.01307556 -0.03233135
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+f 1 8 3
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+f 20 35 34
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+f 20 45 42
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+f 28 29 42
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+f 31 36 32
+f 33 37 44
+f 36 40 37
+f 36 43 40
+f 37 45 46
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+f 37 40 39
+f 38 41 43
+f 40 43 41
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_77.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2a75f3a71c343571d8996a6599279ee3c9de2ff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_77.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00681053 -0.03616008 -0.02963850
+v -0.00681053 -0.04027965 -0.02963852
+v -0.00681053 -0.03698218 -0.02739923
+v -0.00076807 -0.03661594 -0.02963850
+v -0.00681053 -0.04040293 -0.02933031
+v -0.00666333 -0.04028374 -0.02963852
+v -0.00625142 -0.04041886 -0.02933031
+v -0.00681053 -0.04078283 -0.02739924
+v -0.00076807 -0.03743986 -0.02739923
+v -0.00062208 -0.03745806 -0.02739923
+v -0.00074141 -0.03662004 -0.02963850
+v -0.00681053 -0.04058720 -0.02851702
+v -0.00625142 -0.04073051 -0.02795714
+v -0.00625142 -0.04029420 -0.02963852
+v -0.00062208 -0.03984881 -0.02963852
+v -0.00681053 -0.04070549 -0.02795714
+v -0.00625142 -0.04080785 -0.02739924
+v -0.00062208 -0.03665097 -0.02963850
+v -0.00062208 -0.04017365 -0.02739924
+f 1 2 5
+f 1 5 12
+f 1 12 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 17
+f 3 17 19
+f 3 19 10
+f 3 10 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 5 7 13
+f 5 13 12
+f 6 14 7
+f 7 14 15
+f 7 15 13
+f 8 16 13
+f 8 13 17
+f 10 18 11
+f 10 19 15
+f 10 15 18
+f 12 13 16
+f 13 15 19
+f 13 19 17
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_78.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ed1a8f301259a3428ee91fffd55de512086fb89
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_78.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.02027629 0.00573468 -0.02148159
+v -0.02027629 0.00573470 -0.02713665
+v -0.02068011 0.00573468 -0.02175451
+v -0.02027629 -0.00575959 -0.02177282
+v -0.02419371 0.00573470 -0.02713665
+v -0.02027629 -0.00575957 -0.02713669
+v -0.02419371 0.00573469 -0.02556829
+v -0.02419371 -0.00575958 -0.02462388
+v -0.02419371 -0.00575957 -0.02713669
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 6
+f 5 9 8
+f 5 8 7
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_79.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7a64db59255caccd97cedd203289dfe3e457558
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_79.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01523237 0.02771185 0.02196930
+v -0.01520129 0.02771186 0.01873821
+v -0.01711368 0.02771185 0.02196930
+v -0.01489046 0.02683432 0.02196930
+v -0.01396965 0.02674121 0.01862403
+v -0.01396965 0.02677765 0.01825995
+v -0.01520160 0.02771186 0.01854443
+v -0.01711368 0.02771187 0.01535967
+v -0.01711368 0.02010864 0.02196927
+v -0.01443190 0.02562178 0.02196929
+v -0.01396965 0.02565215 0.02003142
+v -0.01396965 0.02666835 0.01743717
+v -0.01523176 0.02771187 0.01727144
+v -0.01660404 0.02771187 0.01530878
+v -0.01711368 0.02770681 0.01535967
+v -0.01711368 0.02093760 0.01740648
+v -0.01691888 0.01874630 0.02196927
+v -0.01438635 0.02513696 0.02196929
+v -0.01431341 0.02424627 0.02196929
+v -0.01396965 0.02425033 0.02038898
+v -0.01396965 0.02639507 0.01704829
+v -0.01597868 0.02771187 0.01592733
+v -0.01554967 0.02771187 0.01668486
+v -0.01655295 0.02771187 0.01530421
+v -0.01654895 0.02765923 0.01530421
+v -0.01711368 0.02725944 0.01537076
+v -0.01711368 0.02159448 0.01636186
+v -0.01551243 0.01737283 0.01861420
+v -0.01604423 0.01737283 0.02011165
+v -0.01660896 0.01737282 0.02196926
+v -0.01396965 0.02424628 0.02038963
+v -0.01428202 0.02011775 0.02196927
+v -0.01396965 0.02602665 0.01681862
+v -0.01653080 0.02771187 0.01530421
+v -0.01653141 0.02765923 0.01530421
+v -0.01711368 0.02685964 0.01538969
+v -0.01709122 0.02711977 0.01537207
+v -0.01711368 0.02711774 0.01537468
+v -0.01711368 0.02164509 0.01632663
+v -0.01460147 0.01737284 0.01753239
+v -0.01479844 0.01737283 0.01770921
+v -0.01539333 0.01737283 0.01841520
+v -0.01547211 0.01737283 0.01854047
+v -0.01468395 0.01737282 0.02196926
+v -0.01396965 0.02011775 0.02052272
+v -0.01396965 0.01737283 0.01935281
+v -0.01396965 0.01885663 0.01999029
+v -0.01396965 0.02569973 0.01668550
+v -0.01396965 0.02531613 0.01654652
+v -0.01396965 0.02523617 0.01653739
+v -0.01396965 0.02424629 0.01650346
+v -0.01396965 0.02011777 0.01650279
+v -0.01711368 0.02424629 0.01569373
+v -0.01711368 0.02562180 0.01552539
+v -0.01396965 0.01914814 0.01656216
+v -0.01396965 0.01737284 0.01712785
+v -0.01711368 0.02286978 0.01600561
+f 1 2 7
+f 1 7 13
+f 1 13 23
+f 1 23 22
+f 1 22 34
+f 1 34 24
+f 1 24 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 30
+f 1 30 44
+f 1 44 32
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_8.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb713b0f337993e1bc5da105ebce3b18c250b7ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_8.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+v -0.01165877 -0.03876975 0.01773837
+v -0.01082318 -0.03956655 0.01844355
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+v -0.01036336 -0.03896399 0.01751442
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+v -0.00804449 -0.04018100 0.01844355
+v -0.00927562 -0.03999469 0.01844355
+v -0.01036336 -0.03972512 0.01844355
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_80.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9a365cbe873a0c939e61500a3a9db79f346504
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_80.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+v -0.01711369 0.02010844 0.02196904
+v -0.01711369 0.02771212 0.01966762
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_81.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d81633d94ae42e25089fad3f66466439f4426911
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_81.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_82.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c463bc885c633990f5eefb8ab9ba8dbe6ee32493
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_82.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_83.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c81a7e3a8e4b4ab10458cedc5051d6be6c36a7f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_83.obj
@@ -0,0 +1,241 @@
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+f 69 78 70
+f 72 79 80
+f 72 80 73
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_84.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3251306e7dba57b3c484afc8c25ebdf035bb4b4c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_84.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.01468335 0.01737195 0.02196926
+v -0.01165877 0.01737196 0.01785222
+v -0.01660861 0.01737195 0.02196926
+v -0.01444736 0.01598709 0.02196926
+v -0.01165877 0.01600196 0.01823650
+v -0.01165877 0.01737197 0.01620564
+v -0.01604374 0.01737196 0.02011160
+v -0.01692896 0.01652302 0.02196926
+v -0.01439664 0.01550274 0.02196926
+v -0.01431175 0.01461097 0.02196925
+v -0.01165877 0.01468967 0.01840187
+v -0.01174473 0.01737197 0.01623150
+v -0.01165877 0.01598711 0.01597111
+v -0.01173565 0.01598711 0.01598674
+v -0.01314517 0.01603694 0.01639628
+v -0.01399941 0.01561029 0.01657068
+v -0.01551197 0.01737196 0.01861417
+v -0.01587396 0.01598710 0.01873865
+v -0.01660274 0.01555869 0.02050430
+v -0.01707097 0.01514516 0.02196926
+v -0.01165877 0.01461098 0.01840728
+v -0.01427971 0.01048263 0.02196924
+v -0.01279065 0.01737197 0.01654843
+v -0.01165877 0.01461099 0.01582556
+v -0.01173565 0.01461099 0.01583699
+v -0.01310672 0.01461099 0.01618759
+v -0.01404480 0.01461099 0.01654481
+v -0.01472980 0.01461099 0.01698502
+v -0.01536141 0.01598710 0.01780471
+v -0.01446445 0.01603694 0.01706802
+v -0.01460113 0.01737197 0.01753228
+v -0.01348206 0.01737197 0.01680462
+v -0.01347512 0.01737197 0.01680101
+v -0.01547193 0.01737196 0.01854080
+v -0.01606082 0.01461098 0.01873864
+v -0.01643990 0.01461098 0.01975678
+v -0.01710141 0.01461097 0.02196925
+v -0.01165877 0.01048264 0.01842651
+v -0.01440999 0.01001664 0.02196924
+v -0.01165877 0.00937580 0.01824008
+v -0.01165877 0.01048265 0.01583578
+v -0.01173565 0.01048265 0.01584600
+v -0.01310672 0.01048265 0.01617134
+v -0.01405334 0.01048265 0.01653999
+v -0.01473834 0.01048265 0.01697238
+v -0.01546926 0.01461099 0.01767179
+v -0.01548954 0.01048265 0.01765916
+v -0.01520070 0.01711579 0.01800557
+v -0.01479814 0.01737196 0.01770909
+v -0.01539291 0.01737196 0.01841511
+v -0.01610514 0.01048264 0.01873863
+v -0.01646339 0.01048264 0.01971166
+v -0.01711262 0.01048263 0.02196924
+v -0.01471859 0.00915634 0.02196923
+v -0.01165877 0.00844121 0.01727667
+v -0.01165877 0.01040484 0.01584119
+v -0.01310672 0.00938980 0.01642812
+v -0.01395777 0.00962323 0.01658810
+v -0.01537796 0.00948159 0.01779746
+v -0.01659847 0.00965381 0.02052292
+v -0.01700584 0.00985315 0.02196924
+v -0.01580241 0.00871134 0.02196923
+v -0.01165877 0.00844121 0.01716301
+v -0.01165877 0.00890545 0.01621945
+v -0.01165877 0.00867813 0.01631867
+v -0.01443935 0.00923505 0.01735004
+v -0.01563317 0.00923154 0.01873862
+v -0.01689906 0.00928836 0.02196923
+v -0.01584833 0.00881013 0.02148512
+v -0.01447726 0.00878129 0.01873862
+f 1 2 6
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+f 1 12 23
+f 1 23 33
+f 1 33 32
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+f 1 31 49
+f 1 49 50
+f 1 50 34
+f 1 34 17
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+f 1 7 3
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+f 1 4 5
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+f 2 64 56
+f 2 56 41
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+f 2 24 13
+f 2 13 6
+f 3 7 8
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+f 16 27 28
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+f 18 29 35
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+f 36 51 52
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+f 39 54 40
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+f 41 56 42
+f 42 56 43
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+f 44 58 45
+f 45 58 59
+f 45 59 47
+f 46 47 51
+f 47 59 51
+f 48 50 49
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+f 51 60 52
+f 52 60 53
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+f 54 62 55
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_85.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c363cacdc962b3062c377240f0215e171338e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_85.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01404496 0.02965356 -0.03068085
+v -0.01404496 0.02991013 -0.03195523
+v -0.01163011 0.03000891 -0.03212200
+v -0.01163011 0.03002520 -0.03090395
+v -0.01404496 0.02982765 -0.02933040
+v -0.01404496 0.03112901 -0.03232651
+v -0.01163011 0.03068403 -0.03273609
+v -0.01163011 0.03010084 -0.03223242
+v -0.01163011 0.03112281 -0.03029042
+v -0.01389484 0.03077888 -0.02713656
+v -0.01404496 0.03049266 -0.02713656
+v -0.01404496 0.03043007 -0.02731515
+v -0.01404496 0.03013472 -0.02825151
+v -0.01404496 0.03250502 -0.03242453
+v -0.01163011 0.03144099 -0.03284707
+v -0.01163011 0.03112901 -0.03281610
+v -0.01163011 0.03298324 -0.03005040
+v -0.01315017 0.03298193 -0.02713655
+v -0.01404496 0.03294607 -0.02713655
+v -0.01404496 0.03289882 -0.03243016
+v -0.01163011 0.03250502 -0.03289158
+v -0.01314947 0.03298323 -0.02713824
+v -0.01163011 0.03298325 -0.03287299
+v -0.01404496 0.03298323 -0.02713711
+v -0.01404496 0.03298325 -0.03243129
+v -0.01163011 0.03262955 -0.03288876
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 11
+f 1 11 19
+f 1 19 24
+f 1 24 25
+f 1 25 20
+f 1 20 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 16
+f 3 16 15
+f 3 15 21
+f 3 21 26
+f 3 26 23
+f 3 23 17
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+f 3 9 4
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+f 17 25 24
+f 17 24 22
+f 18 24 19
+f 18 22 24
+f 20 25 21
+f 21 25 26
+f 23 26 25
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_86.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c4c2c88b02e3ffed85d8caa93e89e79702f1e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_86.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02005695 0.02190180 -0.03318648
+v -0.02063999 0.02079959 -0.03276720
+v -0.02066928 0.02079959 -0.03276720
+v -0.02120769 0.02154400 -0.03292828
+v -0.02124116 0.02190180 -0.03300704
+v -0.01919493 0.02190180 -0.03294782
+v -0.01404519 0.02067600 -0.03181613
+v -0.02079063 0.02067600 -0.03268074
+v -0.02158150 0.02111900 -0.03269022
+v -0.02199995 0.02190180 -0.03278142
+v -0.02183536 0.02190180 -0.03283294
+v -0.01889923 0.02190180 -0.03273937
+v -0.01404519 0.02136773 -0.03118544
+v -0.01404519 0.02113496 -0.03167460
+v -0.01404519 0.02105145 -0.03171072
+v -0.01404519 0.02098113 -0.03174093
+v -0.01404519 0.02067598 -0.02847258
+v -0.02139041 0.02067600 -0.03253329
+v -0.02271830 0.02067600 -0.03204235
+v -0.02221615 0.02190180 -0.03267719
+v -0.01835106 0.02190180 -0.03226265
+v -0.01404519 0.02140480 -0.03072471
+v -0.01442040 0.02067598 -0.02713659
+v -0.01404519 0.02101736 -0.02882080
+v -0.02359007 0.02067600 -0.03153247
+v -0.02259834 0.02154400 -0.03235918
+v -0.02373234 0.02149360 -0.03162663
+v -0.02398341 0.02190180 -0.03151944
+v -0.01810836 0.02190180 -0.03176284
+v -0.01404519 0.02146948 -0.02949472
+v -0.01717939 0.02190179 -0.02964751
+v -0.02828789 0.02067598 -0.02713659
+v -0.01404519 0.02109271 -0.02889778
+v -0.01468821 0.02140191 -0.02713659
+v -0.02753467 0.02067599 -0.02867452
+v -0.02446463 0.02190179 -0.03115939
+v -0.01404519 0.02138248 -0.02930522
+v -0.01582640 0.02180879 -0.02713659
+v -0.01531310 0.02173380 -0.02713659
+v -0.01680279 0.02190178 -0.02714132
+v -0.01665493 0.02189134 -0.02713659
+v -0.02829486 0.02149358 -0.02713659
+v -0.02801589 0.02190178 -0.02795678
+v -0.02801171 0.02149358 -0.02795678
+v -0.02799636 0.02067598 -0.02795678
+v -0.02756396 0.02190179 -0.02871006
+v -0.02476592 0.02190179 -0.03093198
+v -0.01680279 0.02190178 -0.02713659
+v -0.02827673 0.02190178 -0.02713659
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 11 10
+f 1 10 20
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+f 1 28 36
+f 1 36 47
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+f 23 24 33
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+f 23 41 48
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+f 23 42 32
+f 25 27 26
+f 25 35 27
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+f 30 31 38
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+f 30 34 37
+f 31 40 41
+f 31 41 38
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+f 32 44 45
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+f 35 47 36
+f 40 48 41
+f 42 49 43
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+f 44 46 45
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_87.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c3a41760725eb67e27f65c12024761e5bedaeac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_87.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.02027629 0.01634685 -0.02021039
+v -0.02027629 0.01634688 -0.02713593
+v -0.02349843 0.01634686 -0.02240433
+v -0.02068011 0.00573685 -0.02175486
+v -0.02027629 0.00573685 -0.02148164
+v -0.02419371 0.01634688 -0.02713593
+v -0.02027629 0.00573687 -0.02713597
+v -0.02379449 0.01634686 -0.02270806
+v -0.02419371 0.00573686 -0.02556781
+v -0.02419371 0.01634687 -0.02316502
+v -0.02419371 0.00573687 -0.02713597
+f 1 2 6
+f 1 6 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 11
+f 2 11 6
+f 3 8 4
+f 4 9 11
+f 4 11 7
+f 4 7 5
+f 4 8 9
+f 6 11 9
+f 6 9 10
+f 8 10 9
+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_88.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a061ad36004cea47d4846c5be84240b549fc2394
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_88.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.01688961 0.00734795 0.02301036
+v -0.01601698 0.00734795 0.02308868
+v -0.01721933 0.00734795 0.02306217
+v -0.01580328 0.00871095 0.02196923
+v -0.01471898 0.00915676 0.02196923
+v -0.01528937 0.00734794 0.02400931
+v -0.01781414 0.00734794 0.02332487
+v -0.01689877 0.00928863 0.02196923
+v -0.01441013 0.01001688 0.02196924
+v -0.01494897 0.00734794 0.02560595
+v -0.01509246 0.00734794 0.02451421
+v -0.01804209 0.00734794 0.02344055
+v -0.01700613 0.00985351 0.02196924
+v -0.01947748 0.00734794 0.02446239
+v -0.01427936 0.01048237 0.02196924
+v -0.01484924 0.00734793 0.02697966
+v -0.01711299 0.01048237 0.02196924
+v -0.01947748 0.00758019 0.02447444
+v -0.01710128 0.01461074 0.02196925
+v -0.01947748 0.00734791 0.03279142
+v -0.01431192 0.01461074 0.02196925
+v -0.01487773 0.01740166 0.03247213
+v -0.01488587 0.00734791 0.03247210
+v -0.01484670 0.00734792 0.03109838
+v -0.01483652 0.00734792 0.02873174
+v -0.01483499 0.00734793 0.02835217
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+v -0.01947748 0.00772978 0.02448288
+v -0.01707126 0.01514512 0.02196926
+v -0.01840183 0.00734791 0.03368193
+v -0.01840183 0.00910554 0.03368193
+v -0.01840132 0.01185911 0.03368194
+v -0.01839979 0.01598748 0.03368075
+v -0.01839827 0.01740166 0.03368075
+v -0.01947748 0.00849145 0.03278419
+v -0.01439690 0.01550235 0.02196926
+v -0.01483448 0.01740167 0.03109841
+v -0.01503699 0.01740166 0.03332527
+v -0.01504157 0.01598748 0.03334937
+v -0.01504157 0.01323392 0.03334816
+v -0.01504208 0.01048233 0.03334815
+v -0.01504259 0.00734791 0.03334693
+v -0.01492912 0.00734791 0.03271430
+v -0.01947748 0.01740169 0.02519507
+v -0.01692930 0.01652288 0.02196926
+v -0.01804107 0.01740169 0.02342973
+v -0.01754701 0.00734790 0.03410970
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+v -0.01836621 0.01740166 0.03369762
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+v -0.01444778 0.01598752 0.02196926
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+v -0.01504157 0.01740166 0.03334937
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+v -0.01582668 0.01740166 0.03393139
+v -0.01584907 0.00772975 0.03393980
+v -0.01526596 0.00734791 0.03351081
+v -0.01661485 0.01740170 0.02197408
+v -0.01661078 0.01739481 0.02196926
+v -0.01721933 0.00734790 0.03427358
+v -0.01584907 0.01736328 0.03394706
+v -0.01718219 0.01740165 0.03427000
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diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_89.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c0de31289cbde131d212541e867c520e08e295
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_89.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01947748 0.00734791 0.03279116
+v -0.01996166 0.00734791 0.03255009
+v -0.01947748 0.00734794 0.02446257
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+v -0.02445373 0.00734794 0.02504753
+v -0.01947748 0.01740169 0.02519531
+v -0.02445373 0.01740167 0.03073216
+v -0.02445373 0.01738691 0.03073129
+v -0.02359643 0.00734792 0.02926238
+v -0.02445373 0.01738199 0.03073043
+v -0.02445373 0.00734793 0.02809936
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+v -0.02445373 0.00775339 0.02822119
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_9.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b58ba17a21a7044c17c442d1d7131ca13fba8f78
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_9.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.00625054 0.04085391 0.01901648
+v -0.00625054 0.04076248 0.01873866
+v -0.00761858 0.04073862 0.01873866
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+v -0.00789986 0.04077440 0.01901648
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_90.obj b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e410c9a09f821c4038fbe49d925f0a8966d43455
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/mesh/soap_dish_017_collision_90.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01404496 0.02417413 -0.02763492
+v -0.01163011 0.02424740 -0.03020850
+v -0.01163011 0.02443024 -0.03022647
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+v -0.01163011 0.02067600 -0.03258183
+v -0.01163011 0.02665396 -0.03121030
+v -0.01404496 0.02686102 -0.03070400
+v -0.01404496 0.02673025 -0.02974635
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+v -0.01404496 0.02518884 -0.03212687
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+v -0.01404496 0.02562293 -0.03204831
+v -0.01163011 0.02543283 -0.03275435
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+v -0.01163011 0.02582817 -0.03258593
+v -0.01404496 0.02634339 -0.03183623
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+
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/soap_dish_017.xml b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/soap_dish_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c945c9da4b3a4dfb49fde5b5eb0e00e64e18237e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/mjcf/soap_dish_017.xml
@@ -0,0 +1,196 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_017">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/soap_dish_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_017_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_017_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_017_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_017_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_017_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_017_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_017_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_48" file="mesh/soap_dish_017_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_50" file="mesh/soap_dish_017_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_58" file="mesh/soap_dish_017_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_61" file="mesh/soap_dish_017_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_63" file="mesh/soap_dish_017_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/soap_dish_017_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/soap_dish_017_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_68" file="mesh/soap_dish_017_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/soap_dish_017_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_72" file="mesh/soap_dish_017_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_75" file="mesh/soap_dish_017_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/soap_dish_017_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/soap_dish_017_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/soap_dish_017_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/soap_dish_017_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/soap_dish_017_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/soap_dish_017_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/soap_dish_017_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/soap_dish_017_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/soap_dish_017_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/soap_dish_017_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/soap_dish_017_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/soap_dish_017_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/soap_dish_017_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/soap_dish_017_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/soap_dish_017_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_017">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/soap_dish_017.urdf b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/soap_dish_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6aa3435ce364e0fe176d754e40114f48bed3670e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/soap_dish_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_017">
+   <link name="soap_dish_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>f76eadb7fbb25b61bbc7c8e87a4fe5cf</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>double soap dish</name>
+         <color>gray,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>two-tier wall-mounted plastic soap dish with drainage slots</description>
+         <min_height>0.0686</min_height>
+         <max_height>0.0686</max_height>
+         <real_height>0.0686</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518150138</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.028315 -0.041611 -0.034119</min>
+            <max>0.042072 0.041932 0.034520</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/soap_dish_017.usd b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/soap_dish_017.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/soap_dish_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed6f0a3d14285efa794b64f587a4cdd3adcebaf0ff3146d7cc9e2acc66294b99
+size 5063230
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/textures/material_0.png b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..32385f022768c48d4dce09a9027ea7b2da07d472
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab564562dae9496cafe53e113cfaa82424f45663de1e5e9180fbcf87fc0038ac
+size 9881234
diff --git a/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/video.mp4 b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6224c6d7cfb2705fbb6f4914939ba055904a28db
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cb2faa5847ffba0188a05dcc0fa5b7bb664a7b13ab5ffe7a4afb650ac0ac3b3
+size 762564