diff --git a/.gitattributes b/.gitattributes
index 96ca2558028632973a58928efb45aa1811133e0b..08811598131ad80fb43ab0ee902f9de85b26f792 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2423,7 +2423,5 @@ 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/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
+dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/soap_dish_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2a0b47abdc40beff99acc2d8ebd829be2c597e1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f5e02887bc3ce2f118257758e243e51ae06e9c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be3d712669ffd105ec0b9acbde686d5c4147d16afcac40116fe553bcd99ecf27
+size 8508535
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016.glb b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c83cd7232c5eff549a6c2284fe333537716cf784
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b18c1f578251b263a2bab866232b2c3a24dd793c71263db80773f7085531f774
+size 11895564
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016.mtl b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..06c2a45d27b2521a4742fc3d63d4f3ac69e13b39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_016_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/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72287113dfe57a7f27c6c2e36c2ed64bfccd71e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016.obj
@@ -0,0 +1,109840 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016_collision.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2beb530964903ec1c0f27afe447affe2aafaeff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mesh/soap_dish_016_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:be3d712669ffd105ec0b9acbde686d5c4147d16afcac40116fe553bcd99ecf27
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea86b0fc2e47da9c6a88ab830a24611784169d43
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision.obj
@@ -0,0 +1,30339 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_0.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..675b057fc40cd7f7cb6da1c83008074bb5759f95
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_0.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_1.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a292194400c87416c260c9eb091b2c3958e93409
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_1.obj
@@ -0,0 +1,1168 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_10.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bfb7737be3f254a6c61940da3075f49e2ff2e30
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_10.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_11.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_11.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_12.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a395f7f59bb86e91178539461a37e80ff9487b8e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_13.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304126003a20a677b810f3be0075511ec465e507
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_13.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_14.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6db2935f178020afb54fc5d139fbbe7fd8fb616
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_14.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_15.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f92096d0d760c3e4de2c923cc198e7973f6d98
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_15.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_16.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96fde93486ab4438fc0b95c1b85131c68ec48915
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_16.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_17.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe2d49e7b800941140fb568fd3926ee77a4bdd7c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_17.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_18.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1010242963a11987b6c98de20f680c930e02fe6e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_18.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_19.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..023cc53501ef608ca9d8c4ae06fe24e0d7290b7a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_19.obj
@@ -0,0 +1,976 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_2.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a378a19d6093ff701c666f42e9975290f6d8a7e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_2.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_20.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..204bb47503f5717ef93bc3a4befd23824d1c496a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_20.obj
@@ -0,0 +1,859 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_21.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36727609416b466dc5d5fbef27e9da9fe87706fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_21.obj
@@ -0,0 +1,55 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_22.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aebcb763e1abd79c25f2127ffe08ed23feddb570
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_22.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+v 0.00683011 0.02949901 -0.00840385
+v 0.00683011 0.03087457 -0.00937443
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_23.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d8932dd412da53748998fe1adff4ab81857970
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_23.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_24.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5334bb2b87209b53f4bfe744f902f933792e2a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_24.obj
@@ -0,0 +1,667 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_25.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..842a1c1ca36172570013ce65177f53be0d9a568b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_25.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_26.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..270e6b53951cdae58bd910574bf9c0b1d925186f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_26.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_27.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e8299d31405b54a5e3388f4c788e417f6d210c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_27.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_28.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3b32c011aa017b7500cdfe1fc86eebb084c0511
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_28.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_29.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78dc08ce9f9e511824851b77b6d5e3460e059a43
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_29.obj
@@ -0,0 +1,742 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_3.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ef01cb81a6ccce92a306f2196937053fef7c68
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_3.obj
@@ -0,0 +1,1033 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_30.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec4edfb51caa71d90a2483d48df5bdfc3bf78be
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_30.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.05981361 -0.02188292 -0.00241975
+v 0.05979719 -0.02206003 -0.00241975
+v 0.05961529 -0.02188292 -0.00371763
+v 0.05490621 -0.02188292 -0.00241975
+v 0.05960771 -0.02349181 -0.00241976
+v 0.05959761 -0.02206616 -0.00371763
+v 0.05937908 -0.02188291 -0.00514406
+v 0.05287378 -0.02188291 -0.00628203
+v 0.04690911 -0.03084011 -0.00628206
+v 0.05058240 -0.03084012 -0.00241978
+v 0.05940561 -0.02349181 -0.00371764
+v 0.05936519 -0.02478945 -0.00241976
+v 0.05936140 -0.02206615 -0.00514406
+v 0.05915171 -0.02188291 -0.00628203
+v 0.05611759 -0.03084011 -0.00628206
+v 0.05702959 -0.03084012 -0.00241978
+v 0.05934118 -0.02491746 -0.00241976
+v 0.05913403 -0.02491746 -0.00371764
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+v 0.05829528 -0.02772755 -0.00378306
+v 0.05774581 -0.02776875 -0.00628205
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_31.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13b6246d3e3b541a99696b74f3151d7dc8725c6d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_31.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00148857 0.02546344 -0.00274569
+v -0.00257628 0.02546343 -0.00067222
+v 0.00148857 0.02498334 -0.00275005
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+v -0.00257628 0.02546347 -0.01182681
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+v -0.00257628 0.02480280 -0.01166849
+v -0.00253450 0.02498337 -0.01170124
+v -0.00257628 0.02393996 -0.01084958
+f 1 2 3
+f 1 3 6
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+f 1 7 2
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+f 9 13 12
+f 9 14 11
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+f 10 17 11
+f 11 17 15
+f 13 16 15
+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_32.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e5df883997fea499daa53e3e0fe2db173739c18
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_32.obj
@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
+v 0.05612060 0.03092150 -0.00615467
+v 0.05624962 0.03071628 -0.00615467
+v 0.05602625 0.03092150 -0.00651407
+v 0.04727804 0.03092150 -0.00615467
+v 0.05645181 0.03039121 -0.00615467
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_33.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b80c05a54b918566adbe5216b6bb7a51cfb697
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_33.obj
@@ -0,0 +1,652 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_34.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a87b074adcca1449de8a482bac13f526a8ebcd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_34.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_35.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3177e66a82bf1cd06f95085ff94e0ce67ccc6b25
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_35.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_36.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad4bfcabfc157ddfb1322b5727f397238bdd9fd5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_36.obj
@@ -0,0 +1,478 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_37.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c6f8646bca3bd70061113d76ece870d89b26094
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_37.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.02383350 0.01234495 -0.00799628
+v 0.02382165 0.01234495 -0.00805044
+v 0.02356789 0.01234495 -0.00687225
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_38.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fbb764bc19e6af8caee6c0ff20807206ac02821
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_38.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v 0.05706152 0.03057340 -0.00309451
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_39.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b408fd9e28abed75b142bdf8289b7a0e14f9cc2f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_39.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00732404 -0.03016415 0.00060634
+v -0.00732404 -0.02332056 0.00060636
+v -0.00067016 -0.03016415 0.00060634
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+v -0.00589165 -0.02332059 0.00908534
+v -0.00732404 -0.02631798 0.01030852
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_4.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..646058f4b45726d3806d0ead46df83cc73b95441
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_4.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_40.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ba07343fb406ad16164e4c2e8328dcd6818743
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_40.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_41.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cdcdbc4b361366ed6cdbf91c8604aa0fc687aee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_41.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.00257628 0.02216943 -0.00126031
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+v -0.00257628 0.00010083 -0.00759868
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_42.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904482fea3cc89f3890573c9b6d243e572c7c704
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_42.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+v 0.05945959 0.00010044 -0.00657121
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_43.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..518db6de8ea8193b78b549a2176fa5ba60b799a2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_43.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v 0.06111659 -0.02188296 0.00769417
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_44.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1af397f07c9c76122b699a4f6a63c1bad1c8d548
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_44.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+v -0.00257668 0.03087457 -0.00840385
+v -0.00141453 0.02546346 -0.00840387
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+f 4 9 10
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+f 6 12 8
+f 6 8 7
+f 9 12 10
+f 10 12 11
+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_45.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8b37d031fcfc51746ac65bf7deee29ea37377b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_45.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_46.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83bbb878ff7d6e015aa95832e577a8f23eb40a1b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_46.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_47.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..193861be9ea75bd936eba7d843dd36b8da8141cf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_47.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_48.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8de175c2c21ca1d87e61c0fd374c9bf7b497353
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_48.obj
@@ -0,0 +1,931 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_49.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e263ebbb90a2b8e1f34c875d480e2ab5fe537a6b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_49.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_5.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2468bce055b1b46616f0774fdff9c745b98b5827
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.00973512 0.01554304 0.01011512
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_50.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d2a8c244e902de84d1feb6539164014a625a6f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_50.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00257668 0.02546344 -0.00170151
+v -0.00138066 0.02546344 -0.00170151
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_51.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b85cd9c212bbb8aa630d7142a3ba06c1152cd79
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_51.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v 0.00084924 0.03638926 0.01040857
+v 0.00227227 0.03638926 0.01040428
+v 0.00531058 0.03781501 0.01037086
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+v 0.00531058 0.03896575 0.01007078
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_52.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..180b6bc870b1590920a5f54d6f6e49ee62b985e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_52.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_53.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e1a5d8e98744d9a3cefb07cb2f861e63e3ec5b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_53.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_54.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c1834dd412abf9f5e3729de84b0375c9860c80
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_54.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_55.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0bf6eff668a6056ecce6c574e45e1b3f2c8f09a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_55.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_56.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc43f61c72e01760c8a00537df8cab83aa1949e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_56.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_57.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c021147f4a7532d338f89098ca5bcc77570c49
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_57.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_58.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..164fbc4e44975666b2aae0f28a6f7e604056b750
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_58.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_59.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f157afa49143bca3cc139ea5636dac379852a5cf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_59.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_6.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b711ab5d3b15505d4e2b2851d631f05bd049d8e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_6.obj
@@ -0,0 +1,994 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_60.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a87bd46bf8abb0bc35793dba1319ff48a2c41c46
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_60.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_7.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991cf8117613058386e5b5e7f7a11ade8f710b7e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_7.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_8.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604213bc622cf85cfa01dc0852e21be743a7701a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_9.obj b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa740b30d13dcb25fc419773d03d9b3613e30347
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/mesh/soap_dish_016_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/soap_dish_016.xml b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/soap_dish_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..de59957da69f6e613b806015bd230401c94ed7e2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/mjcf/soap_dish_016.xml
@@ -0,0 +1,136 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soap_dish_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soap_dish_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soap_dish_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soap_dish_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soap_dish_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soap_dish_016_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soap_dish_016_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soap_dish_016_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soap_dish_016_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soap_dish_016_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/soap_dish_016_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/soap_dish_016_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/soap_dish_016_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/soap_dish_016_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/soap_dish_016_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/soap_dish_016_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/soap_dish_016_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/soap_dish_016_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/soap_dish_016_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/soap_dish_016_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/soap_dish_016_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/soap_dish_016_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/soap_dish_016_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/soap_dish_016_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/soap_dish_016_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/soap_dish_016_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/soap_dish_016_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/soap_dish_016_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/soap_dish_016_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/soap_dish_016_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/soap_dish_016_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/soap_dish_016_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/soap_dish_016_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/soap_dish_016_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/soap_dish_016_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/soap_dish_016_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/soap_dish_016_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/soap_dish_016_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/soap_dish_016_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/soap_dish_016_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/soap_dish_016_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/soap_dish_016_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/soap_dish_016_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/soap_dish_016_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/soap_dish_016_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/soap_dish_016_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/soap_dish_016_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/soap_dish_016_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/soap_dish_016_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/soap_dish_016_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/soap_dish_016_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/soap_dish_016_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_016">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_60" 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/d012a63dc7b351218ae6e14658c57c7d/soap_dish_016.urdf b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/soap_dish_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3f594e898efb08ebf4a6d32f26a29ef7f1b06507
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/soap_dish_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_016">
+   <link name="soap_dish_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>d012a63dc7b351218ae6e14658c57c7d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>suction soap dish</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>gray wall-mounted soap dish with slotted tray and round suction base</description>
+         <min_height>0.0865</min_height>
+         <max_height>0.0865</max_height>
+         <real_height>0.0865</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518150052</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023710 -0.043209 -0.039061</min>
+            <max>0.061465 0.043276 0.047404</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/d012a63dc7b351218ae6e14658c57c7d/soap_dish_016.usd b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/soap_dish_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/soap_dish_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:047439ca76694acaa44d13c44a11f43d0b37fe71eeb01d5fd01fb7f7a21f10ba
+size 4946891
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/textures/material_0.png b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8508535
diff --git a/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/video.mp4 b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/video.mp4
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00ecda3b919c38e12cc2fd8d9fb40d0fce4b5e516257057ba06e8526828fab65
+size 234871