diff --git a/.gitattributes b/.gitattributes
index 905201e3dfae481ef1faddac99528b20f521baf5..96ca2558028632973a58928efb45aa1811133e0b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2423,7 +2423,7 @@ dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/facial_
 dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mesh/facial_cleanser_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mesh/facial_cleanser_013.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mjcf/mesh/facial_cleanser_013.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/facial_cleanser_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/shampoo_bottle_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/soap_dish_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db3d28596da60d6bba92ea171463ab98651e52e1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_006_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd soap_dish_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..125f6f9b9efbea116ee4c725134a0857dd101c53
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc228cf5bf0509ba78fe54c8e58dd1b671669d4e8539f76209a9e653b8b65e52
+size 10884035
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.glb b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..833fe04a9cdf901d825110d1d35fb61753119506
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3351e5df9232ccf22ad09f5f0d15d2cd8053d6e7982507997c9165338866fb54
+size 82949304
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.mtl b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85c4641b03a925e6b21e9acbbe48797f5d122b1b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_006_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f7947345771e5e17d00287434edb1585db8982
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eea58b981dfc63e07ac7e93a9ea64e5188ba733208df3b68d053645b752b319e
+size 115503872
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006_collision.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9132ebc37778d54ed59fe6983614e324632b577
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mesh/soap_dish_006_collision.obj
@@ -0,0 +1,14521 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_0.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f01ae51f69f09b54d26bff2a8b9075c832c00fd1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_0.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_1.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dd285ea400ab2fda07c7974883cd964740521f2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_1.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_10.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e942ac9c610708620c36c9ebe6daa8b1b0ea25a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_10.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_11.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1831b5e1f446acbbc40504b1f4634d95fd3d5217
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_11.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_12.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a25d7fac4eb4e0e59f367dc9873d8ebbc78c55
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_12.obj
@@ -0,0 +1,829 @@
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_13.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c921f86428f754ac0bde5ae37c74e0bbe2e1e24
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_13.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_14.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfa1b4ec0ff387e4dd77b79f549c2f3cebbde91
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_14.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_15.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9ca3dc0265e94aff557f33e23c59c0ca3617c29
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_15.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_16.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fdc905af34296c6bf508f2e0331aff3c0b6508a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_16.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_17.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..741117dc0a095ada5b5ea2f64a0f8c768e417572
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_17.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+v -0.02879525 0.04369782 0.00443857
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_18.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759d302025966a3f195c0da45bf952ec0609cc99
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_18.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02003961 0.04301762 -0.01337770
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+v -0.02213668 0.04301762 -0.01337770
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_19.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1031d4dd1b1bbabdfa4f1682634a4f15fe24184d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_19.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_2.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18fd159ea6ffe2277327397d029e350d5751f6db
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_20.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4ce4922c91a5e8cd09387517924bc6abf15dff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_20.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.00001283 0.02906810 0.00233056
+v -0.00001283 0.00732055 0.00286833
+v -0.00001283 0.02906816 -0.01283234
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+v -0.00096945 0.01593575 -0.01283707
+v -0.00096945 0.02906816 -0.01283390
+v -0.02446070 0.02906810 0.00308979
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+v -0.00001283 0.01044565 -0.01283553
+v -0.00342389 0.00732061 -0.01283554
+v -0.02989323 0.00732055 0.00308815
+v -0.01007633 0.01593575 -0.01282928
+v -0.00279199 0.02906816 -0.01283390
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+v -0.02989616 0.01044559 0.00308816
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+v -0.01007633 0.02906816 -0.01282767
+v -0.02989323 0.02906810 0.00265639
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+v -0.02612527 0.00732059 -0.00943067
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_21.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9540a7130ec456b04e2f44be790defce29c89db9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_21.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01844181 0.02906816 -0.01249101
+v 0.01844181 0.03701530 -0.01799619
+v 0.01916282 0.02906816 -0.01238346
+v 0.01844181 0.02906810 0.00251637
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+v 0.01844181 0.03814226 -0.01843391
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+v 0.01951387 0.03838297 -0.01814127
+v 0.02155734 0.02906815 -0.01181818
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_22.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec2986b3bd6dba55cc1223faffbcc9f87e2f5a6b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_22.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01553521 -0.00582636 0.00387295
+v -0.01553521 -0.00412909 0.01334220
+v -0.01553521 0.00046301 0.00387297
+v 0.00000969 -0.00549638 0.00387295
+v -0.01553521 -0.00371291 0.01445824
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+v 0.00000969 0.00046301 0.00387297
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+v 0.00000969 -0.00256844 0.01485113
+v -0.01553521 -0.00072523 0.01550482
+v 0.00000969 -0.00072523 0.01550027
+v -0.00096567 0.00046296 0.01549685
+v 0.00000969 0.00046296 0.01549571
+v 0.00000969 0.00026595 0.01549685
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_23.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0914edd2604160d48962c81659cb37b133e693c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_23.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.02646551 -0.03404182 0.01553229
+v -0.02646551 -0.03034055 0.01553014
+v -0.02667319 -0.02869983 0.01545859
+v -0.02828668 -0.02869982 0.01490781
+v -0.02646551 -0.03589117 0.01553121
+v -0.02464433 -0.04185647 0.01547589
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_24.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c840e9bfd574e5808c3fc01a643bb3d4008005c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_24.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_25.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a8859fe7fd64709ab623b129454a1c167120ba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_25.obj
@@ -0,0 +1,307 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_26.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b177eea07258c1e576178b3714149265924753a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_26.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00980196 0.02906810 0.00231359
+v -0.00980196 0.03297633 0.00231198
+v -0.01007353 0.03259172 0.00238786
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+v -0.00980196 0.02906816 -0.01282724
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+v -0.00980196 0.03458662 0.00231038
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+v -0.01007353 0.03458662 0.00238626
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+v -0.01024789 0.02906816 -0.01282724
+v -0.01546079 0.03458668 -0.01364900
+v -0.01388049 0.03458668 -0.01342782
+v -0.00980196 0.03458668 -0.01284498
+v -0.02003936 0.02906810 0.00284314
+v -0.02003936 0.03458662 0.00284316
+v -0.01189433 0.02906816 -0.01282240
+v -0.01740285 0.03458668 -0.01358604
+v -0.01371614 0.02906816 -0.01279656
+v -0.02003936 0.02906815 -0.01223633
+v -0.02003936 0.03458668 -0.01253661
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+v -0.01571132 0.02906816 -0.01271907
+v -0.01735776 0.02906816 -0.01260767
+v -0.01746198 0.02906816 -0.01259798
+v -0.01844102 0.02906816 -0.01250434
+v -0.01935193 0.02906816 -0.01237195
+v -0.01951026 0.02906816 -0.01234127
+f 1 2 3
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_27.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda878c0ed4f919fcfc6dc284076ee5aba3e1d94
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_27.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.01565292 -0.03411503 -0.01380642
+v 0.01644771 -0.03494727 -0.01610179
+v 0.01613945 -0.03494727 -0.01610179
+v 0.01543874 -0.03411752 -0.01380642
+v 0.01721774 -0.03427527 -0.01380642
+v 0.01549198 -0.03531868 -0.01678972
+v 0.01713231 -0.03540687 -0.01678972
+v 0.01403734 -0.03431875 -0.01380642
+v 0.01906605 -0.03523795 -0.01380642
+v 0.01909205 -0.03627142 -0.01693923
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+v 0.01360652 -0.03656332 -0.01804013
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+v 0.01374765 -0.03439203 -0.01380642
+v 0.01724745 -0.03636830 -0.01818806
+v 0.01850029 -0.03659810 -0.01800615
+v 0.02039937 -0.03610746 -0.01380642
+v 0.02016415 -0.03664656 -0.01635114
+v 0.01971352 -0.03710988 -0.01753778
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+v 0.01266317 -0.03679188 -0.01784829
+v 0.01238834 -0.03656954 -0.01693243
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+v 0.01724745 -0.03959421 -0.01908302
+v 0.01542760 -0.03959421 -0.01914627
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_28.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4405637bfee9521c400673a3158d34ce620349c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_28.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.00000969 -0.00803181 0.00253373
+v 0.00000969 0.00046217 0.00253376
+v 0.00005728 -0.00803264 0.00253373
+v 0.00000969 -0.00349395 0.01420947
+v 0.00000969 0.00046212 0.01549663
+v 0.01474188 0.00046217 0.00253376
+v 0.00085619 -0.00804598 0.00253373
+v 0.00000969 -0.00256869 0.01485178
+v 0.01474188 -0.00365482 0.01439988
+v 0.00000969 -0.00072487 0.01550044
+v 0.00020437 0.00046212 0.01549663
+v 0.01474188 0.00046212 0.01549282
+v 0.01474188 -0.00800847 0.00253373
+v 0.01186495 -0.00805265 0.00253373
+v 0.01474188 -0.00257621 0.01501933
+v 0.01474188 -0.00072487 0.01549663
+f 1 2 6
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+f 1 13 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
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+f 1 8 10
+f 1 10 5
+f 1 5 2
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+f 3 7 4
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+f 10 16 11
+f 11 16 12
+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_29.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a29a1470863635ff8ef3b30029dc6bd7ea72cb1e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_29.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.01445695 -0.04709503 0.00389621
+v 0.02039982 -0.04156451 0.00389623
+v 0.02687240 -0.04709503 0.00389621
+v 0.01642120 -0.04709507 0.01239219
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_3.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2598594350be4ca03bf93280164904e23c61afb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_30.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5da3c77cf592e03227bdf5615676b6ea3bb3ea9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_30.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_31.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e52a55e8d3dfb99343790917a1326cdc0081078
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_31.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_32.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0221021e72d505b587e9dc1a06d5ae79baa6b10
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_32.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_33.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f96ae9ce9dff65cf84c83fa02158b9e2872bf8cb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_33.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_34.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff987d2496d0f63f93a19a0f142e155b5ee8952d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_34.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_35.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8d345938e2f58e2ef422b9e6a6fa673bf84b49
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_35.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_36.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4c34882c16a81845dcee77b5d13dc83fba18872
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_36.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_37.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a68c7b5be03c953daf1f5c577e66be2e455e2d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_37.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_38.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ef907acef4a8abb459f9971e4dab64b0f139466
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_38.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_39.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83c55f7358a6067b31d5f41c5d659d336cd58943
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_39.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_4.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ab9418d48c63f634e915567a262c1db3920b2b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_4.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_40.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd35f66f1d0534cb2fff680ce397b34e05e61569
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_40.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_5.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8495eae0b2464789d4a4bc09b1949ad1de245dbf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_5.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_6.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c8abe41d17c11b271652e97cf03b1d41c125003
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_6.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_7.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4746a37adadf042779b996184f9c1a6412fd67f8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_7.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_8.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..249b254c0e2d789d7956debfc9c7beb4a1f832d5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_9.obj b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..761e36aa90d719b358256ca72660e0b4fa975fc2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/mesh/soap_dish_006_collision_9.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+v 0.01983120 0.00297755 0.01544002
+v 0.01983120 0.00375315 0.01534910
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diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/soap_dish_006.xml b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/soap_dish_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e8debca4904d9d836296559df99ef8ebbf004c44
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/mjcf/soap_dish_006.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_006">
+  <asset>
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+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_25" file="mesh/soap_dish_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/soap_dish_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/soap_dish_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/soap_dish_006_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/soap_dish_006_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/soap_dish_006_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/soap_dish_006_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/soap_dish_006_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/soap_dish_006_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/soap_dish_006_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/soap_dish_006_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/soap_dish_006_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/soap_dish_006_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/soap_dish_006_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/soap_dish_006_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/soap_dish_006_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_006">
+      <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_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/c89a4af6ff4d56c19225cbda8ce66171/soap_dish_006.urdf b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/soap_dish_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ea6652924303cf16ca737ac6f99b098d534c5290
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/soap_dish_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_006">
+   <link name="soap_dish_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>c89a4af6ff4d56c19225cbda8ce66171</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>rectangular soap dish</name>
+         <color>brown,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular soap dish with raised grooves and four small legs</description>
+         <min_height>0.0345</min_height>
+         <max_height>0.0345</max_height>
+         <real_height>0.0345</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225414</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/c89a4af6ff4d56c19225cbda8ce66171/soap_dish_006.usd b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/soap_dish_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..467cd3ec70a63e47f9f684f139324c174e32f72a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/soap_dish_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd2aa5e528b18275f6b1710c47f13acaa52c5f20f5efbcd5c93706e5d52382c5
+size 130029058
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/textures/material_0.png b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..125f6f9b9efbea116ee4c725134a0857dd101c53
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc228cf5bf0509ba78fe54c8e58dd1b671669d4e8539f76209a9e653b8b65e52
+size 10884035
diff --git a/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/video.mp4 b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29e490119920b71ac9e2bfcd9c161c3e924b7de8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73504c0ecbb0278e5232aae5f40463eab976130ada2c1dbebf17f246ac854d16
+size 164283