diff --git a/.gitattributes b/.gitattributes
index 02396e88e9f8e1d5580513346dbe40a0302efbe4..db270a912a960cb3c704548c0255cf6a4fc55f89 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2447,3 +2447,5 @@ dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/mesh/ha
 dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/mjcf/mesh/hand_sanitizer_024.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f5d794f63e9e7425e0ef404349b8c156cd4dba4d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_004_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3ee22c8c6fc1c82310ff520586de4fcb822b846
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/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/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.glb b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fd932d80332a9ee2bbf6fd01e46a338a86b8d56b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11899484
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.mtl b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dafad9979b9090e7e0c477e642483c632a29d519
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_004_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..168f4d85b12a94873e7d1ddc13e3deed8389d5a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.obj
@@ -0,0 +1,108968 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004_collision.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8775250d9d1f59f4608f79fbb52418c321c4046b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8434433
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3ee22c8c6fc1c82310ff520586de4fcb822b846
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31af82c397904291c629f6c353c92c7df141fe04e9d49551ba5e5b668245b96f
+size 8434433
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004.obj
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+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68dd11e74d99b0a7370f24bf84a122818fc3b1d9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision.obj
@@ -0,0 +1,19321 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_0.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1926613c14de6d7c2d8151f2260e91a5d698f223
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_0.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_1.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6265fd8b556f9e108ebd9bf463cc77fc99f2645
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_1.obj
@@ -0,0 +1,1072 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_10.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f4aebd91391a174e35f7f63382f202e35b8a16
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_10.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_11.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f8e083f88590b3ad2778a4c8b1585e21ce05ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_11.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_12.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9ea359a8ffc0dee84bcca6786205cec47a4f90f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_13.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e57f9575aa5d705626562c0c064b6a4a65b70f09
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_13.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_14.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345c5a3733f2be254efd5e887ca816aee8fa4ba2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_14.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_15.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f6358a3b057027ecf30f62d1477fd5228d77e99
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_15.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_16.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..339d00afb22917486345e08c14a1e8bc72435a0f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_16.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_17.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..271b23a5ac2cc68255c9a36af00f055e0d33fe4d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_17.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_18.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58c70959cebeb2ece824546d3252958e8de163ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_18.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_19.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..115e3ef253217534c4a05fba73c37e50dd1b8615
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_19.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_2.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd81db7e403f8bbcc669131510e6f0850cb1545e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_20.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f4af00a546bd96a3d2f7de3a32140f66cbb0437
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_20.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00248078 0.01551603 0.01215191
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+v -0.01765931 0.01558670 -0.00473426
+v -0.00248078 0.00086453 -0.00473432
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+
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_21.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa114fafd2991ed6642a0c8c2f232e8180a51cf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00877683 -0.02338382 0.02169119
+v -0.00877683 -0.02338382 0.02269119
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_22.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055b3667e2728cb54bc2c053c8ae8398aa9a4a7e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_22.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_23.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9112030470d2e2cd2a0a576b8e51a19168852da
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_23.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_24.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbe48434caecc0f93fc3a5f042a138696bd7e0a6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_24.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_25.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b0ea0904f8709425087906483f68751c681776
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_25.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_26.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e732c1cd451eae143efdf2c7998936bc37828a6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_26.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_27.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d30df3367eb897d539a1cb6b5f3b803b28f5fabe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_27.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_28.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5585365d1ec578cb5e08446e741622f38fd282bd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_28.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_29.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db8470a75787e9cf88dbd57d4181180b4921152
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_29.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_3.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72a0c07987004015b78c55dd97a897f0ea0b135f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_30.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b474853d45f310745b99000b68c3e4ad5ed809
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_30.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_31.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a09fe5919e5887f43bc4d5b7e72646233b0ab722
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_31.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_32.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a720edcb66fcf6ad863eb89c785013733ad5e933
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_32.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_33.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ecbc29238c7add515f23108cb477cae1206bd1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_33.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_34.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c20335038004712ec606b528218cd136a1336ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_34.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_35.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ea170acef15636ca4702b6fab3117cc470381f2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_35.obj
@@ -0,0 +1,1015 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_36.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc93028f6833609d3e06f3bcf189909553c651a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_36.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_37.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..111e1f75d0527642acc7c46cd29b86a3918b63f9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_37.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_38.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b0dc66a6a6494990a00721f68772f8f45036f6c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_38.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_39.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98bfe1a78202849dc2e479794eb4872a71470174
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_39.obj
@@ -0,0 +1,649 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_4.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d4a9a04eafed73fe5303370f58ac6c15210f7fb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_4.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_40.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae57236012d77e2ed0df1ee27c5d2dc43eff6fb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_40.obj
@@ -0,0 +1,850 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_5.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db42e586329b81d1d7d2fe6dbeb014d5055280c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_6.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9140ac70a41f87ae382ef0e0708d33692d18e15c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_6.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_7.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f4cf754df07a221a300e378fcc6adca48894eb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_7.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_8.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f23bb114dcccc174f800f2f0a15c0f7c061c3cd5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_8.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_9.obj b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59e094cc9571a0943b59708603c6d6cd1d39d3d3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/mesh/soap_dish_004_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/soap_dish_004.xml b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/soap_dish_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d6ed6f32f64b4cc5ad3e64ff0521bea217300040
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mjcf/soap_dish_004.xml
@@ -0,0 +1,96 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_004_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soap_dish_004_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/soap_dish_004_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/soap_dish_004_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/soap_dish_004_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/soap_dish_004_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/soap_dish_004_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/soap_dish_004_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/soap_dish_004_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/soap_dish_004_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/soap_dish_004_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/soap_dish_004_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/soap_dish_004_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/soap_dish_004_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/soap_dish_004_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/soap_dish_004_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/soap_dish_004_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/soap_dish_004_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/soap_dish_004_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/soap_dish_004_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/soap_dish_004_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/soap_dish_004_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/soap_dish_004_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/soap_dish_004_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_004">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" 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/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.urdf b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a4fef82f6136625107d0f19b424d7396efc15cc0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_004">
+   <link name="soap_dish_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>fa1be3e208ff51d6979f60ea95dfca22</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>cat soap dish</name>
+         <color>black,orange</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>cat-shaped soap dish with orange eyes and a tail</description>
+         <min_height>0.0495</min_height>
+         <max_height>0.0495</max_height>
+         <real_height>0.0495</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225301</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.usd b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0007c34e6149d40bdb40fdb016de2065d0e7830c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044f3463244d3fd5a79219a89c174a34173c5e0595fcb544c2eb76deb68056c1
+size 4985450
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/textures/material_0.png b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3ee22c8c6fc1c82310ff520586de4fcb822b846
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31af82c397904291c629f6c353c92c7df141fe04e9d49551ba5e5b668245b96f
+size 8434433
diff --git a/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/video.mp4 b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..535058cedec3760cec92d2f3ba22a5e37708f036
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dea1d6047cd636ebc3703d920989efa62d930001f4deaeab7a94f2f83b7ee855
+size 170998