diff --git a/.gitattributes b/.gitattributes
index 9aaf963a95f984f5e78313276083af1f5d51a1d6..cb8b81ae2bd8cb515ce1a1b7285afd65ea34e681 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2425,5 +2425,5 @@ dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mesh/fa
 dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mjcf/mesh/facial_cleanser_013.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/hand_sanitizer_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/hand_sanitizer_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8af467da3f4baab928e11d947cd0c6262281d34
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_010_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
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea666e7efa07310a46f2962ecf1a31e47de92afb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.glb b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f75cca82c11e580bca584b49e0e9a49bbaf0cc00
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0244c2393fdabede960a07d2f3c13faaeba993b5b72aa0925141859f670831
+size 12977196
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.mtl b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f187d380298d5fe85f3458b890c9f37d75a6411c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_010_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/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e3b13f313753b2a387a4e733258da77229bdd82
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010.obj
@@ -0,0 +1,110974 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010_collision.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7154ea13b00deea6675fca04ac9499daef4cf69
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010_collision.obj
@@ -0,0 +1,20621 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sponge_010_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea666e7efa07310a46f2962ecf1a31e47de92afb
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+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59963d0b285c30cfe78d21be1e75a29177e480f0fd77fac0828749ad383f33e7
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010.obj
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d5cccf76b8fc29054aca94c7e87a94bbfea8ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision.obj
@@ -0,0 +1,20621 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_0.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d73c69ffecfaf9d4aaf572017383b1d0cfd50f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_1.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31dc24ab47b4c3f54518de80f1b9d4020ae42d23
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_1.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_10.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfd0122c15796d81da8df458ab39eb4d090eafe1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_10.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_11.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d5ca294c87e4cf07884d888cbd111e166d2830
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_11.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_12.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78b997cc6acadad1a6a30d82cc08c5d459fbcd86
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_13.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18cc37066f3f3998d7c35ff2779b77074bad33c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_13.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_14.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e740b2e2587d35c7ff46852c593f849aa45c53
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_14.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_15.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b08f506dba36f05a712daaddfaa4b12e80f1d42
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_15.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_16.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..045cfc61efcd4d6bdb9e10311ae55d8307178cc7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_16.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_17.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ceb51f6056ea1a7af04071fa148f199561c2e04
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_17.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_18.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d5d50d596daf037d6343b397bad9d2790ad3341
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_18.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_19.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d60984f3793891c201384ca168d1145d49d759
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_19.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_2.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c68d10b2e4a28d5ad30a0f67030a0bd3ff19a741
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_2.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_20.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd7fa84989495e4bf38a622510c0d015b41da93e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_20.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_21.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..796375a8019658ef3b15dd4baae1eff76bf95e64
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_21.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_22.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d2a781dbdaa318c86abc4429840bba1e28110a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_22.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_23.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381c00c4c12ec2fa6304f26e65a2dbcd9d17d356
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_23.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_24.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf152111f1f63cbb26bf0d4439350908e01e6a65
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_24.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_25.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3b5d29bd5ea0d4afec327200d4d3516fb65ea44
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_25.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_26.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb315769bcb5b541946dad26c1f141fa68fe04a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_26.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00881959 0.00116436 -0.00113073
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_27.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f991785cbcb9a86a70cc5e55323c7ddaf70589
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_27.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_28.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..666a6bdeefff22e8bf15e0bb56956ef78d3b2ba4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_28.obj
@@ -0,0 +1,961 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_29.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e6fa739e2071edd14a5ccaeee447c5df06ec8a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_29.obj
@@ -0,0 +1,1105 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_3.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f345a10d4e734a636174321f3f957b4e0b3f6f2d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_30.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d63f451e8382b635e0f300178732ccec3d7ecc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_30.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_31.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f0da359bc7a579eabf294745ed501d4369706b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_31.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_32.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7de98ed205f926913b59a37184dc01d4b06c16b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_32.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_33.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390f3ec98d83ba42508814cb97c37b19240c0910
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_33.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_34.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a18c3c4c783b353b114c28720d6d43127bc5c401
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_34.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_35.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64605cf395f119634fb8054d96ad99a1745c361
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_35.obj
@@ -0,0 +1,256 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_36.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75a2b0ab41bb718c3c46d61a7973ed33a26dd2e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_36.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01457122 -0.01718061 0.00080155
+v -0.00827008 -0.01718061 0.00080155
+v -0.01457122 -0.01718062 0.00385120
+v -0.01457122 -0.01147845 0.00080157
+v -0.00801795 -0.01718061 0.00095942
+v -0.00822004 -0.01542302 0.00080155
+v -0.00801795 -0.01688526 0.00095207
+v -0.00865885 -0.01718062 0.00309084
+v -0.01457122 -0.01093642 0.00489227
+v -0.01457122 -0.00846007 0.00163979
+v -0.01419849 -0.01110030 0.00080157
+v -0.00801795 -0.01718062 0.00283263
+v -0.00847344 -0.01391638 0.00080156
+v -0.00801795 -0.01394114 0.00091531
+v -0.00801795 -0.01445245 0.00091185
+v -0.00801795 -0.01710892 0.00283263
+v -0.00801795 -0.01690064 0.00283220
+v -0.01296995 -0.00846008 0.00470155
+v -0.01321566 -0.00846008 0.00479670
+v -0.01457122 -0.00846008 0.00521969
+v -0.01457122 -0.00957320 0.00508604
+v -0.01457122 -0.00989586 0.00504538
+v -0.01436722 -0.00846007 0.00158486
+v -0.01285833 -0.01110030 0.00080157
+v -0.01426393 -0.00846007 0.00155718
+v -0.01279738 -0.00846007 0.00151566
+v -0.01196146 -0.00846007 0.00173451
+v -0.00801795 -0.01286132 0.00151045
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+v -0.01234574 -0.00846008 0.00442128
+v -0.01150084 -0.00846007 0.00251001
+v -0.00801795 -0.01284083 0.00219944
+v -0.00801795 -0.01501329 0.00271196
+v -0.01166122 -0.00846007 0.00382874
+v -0.00801795 -0.01394285 0.00261465
+v -0.00801795 -0.01350068 0.00250912
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_37.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cacbd9bfd6dc08fd049584bdf4cf7831ecc05dc8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_37.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.00480216 0.00894614 0.00250992
+v 0.00440240 0.00894614 0.00166859
+v 0.00451503 0.00894614 0.00355979
+v 0.00881959 0.00869627 0.00250992
+v 0.00295187 0.00894615 -0.00026863
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+v 0.00881959 0.00861552 0.00275058
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+v 0.00823294 0.00358003 -0.00026865
+v -0.00036875 0.00894615 -0.00026863
+v 0.00318826 0.00894614 0.00387139
+v 0.00881959 0.00794971 0.00349891
+v 0.00881959 0.00506707 0.00013980
+v 0.00859681 0.00270777 -0.00026865
+v -0.00111877 0.00803199 -0.00026863
+v -0.00213736 0.00894614 0.00169639
+v 0.00269568 0.00894614 0.00391310
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+v 0.00705098 0.00116511 0.00327740
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+v 0.00809927 0.00116511 0.00254345
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+v 0.00712895 0.00120092 0.00327212
+v 0.00881959 0.00233752 0.00326830
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+v 0.00881959 0.00176998 0.00268104
+v 0.00809804 0.00152697 0.00307942
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_38.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38d29680b24c14e36fcd7cf1ce65922e7e77a085
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_38.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00728512 -0.02262786 -0.00084023
+v 0.00728512 -0.02465800 -0.00084024
+v 0.00728512 -0.02262783 -0.00788912
+v -0.00208735 -0.02262786 -0.00084023
+v 0.00728512 -0.03083437 -0.00084095
+v -0.00103598 -0.03083518 -0.00084026
+v 0.00728512 -0.02271700 -0.00789260
+v 0.00609521 -0.02262783 -0.00789538
+v -0.00208735 -0.02262783 -0.00791205
+v -0.00208735 -0.03083518 -0.00084026
+v 0.00728420 -0.03083518 -0.00084165
+v 0.00728512 -0.03083517 -0.00148138
+v 0.00728512 -0.02273709 -0.00789260
+v 0.00609521 -0.02273709 -0.00789885
+v -0.00208735 -0.02273709 -0.00791691
+v -0.00208735 -0.03083515 -0.00744252
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+v -0.00208735 -0.02327776 -0.00792525
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+v -0.00208735 -0.02474072 -0.00792456
+v -0.00208735 -0.02420004 -0.00793637
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_39.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4116b7a318c25e34eb1346795bf3baaae4b61e2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_39.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00881959 0.01599856 0.00440899
+v 0.00881959 0.01577355 0.00408024
+v 0.00881959 0.01599857 0.00244554
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+v -0.00020937 0.00894691 0.00393112
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+f 58 62 59
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_4.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12e9f7ed54c4a844dab85807f0089a7ef26b222
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_4.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01457186 -0.01718058 -0.00771388
+v -0.00262506 -0.01718058 -0.00757468
+v -0.01457186 -0.01718061 0.00080112
+v -0.01457186 0.00066518 -0.00717038
+v -0.00208735 0.00116439 -0.00767714
+v -0.00208735 -0.01718058 -0.00756802
+v -0.00208735 -0.01718061 0.00080112
+v -0.01457186 -0.01147744 0.00080114
+v -0.01457186 0.00116439 -0.00715121
+v -0.01425046 0.00116439 -0.00716704
+v -0.00208735 0.00116436 -0.00040406
+v -0.00208735 -0.00739399 0.00080115
+v -0.01419792 -0.01109854 0.00080114
+v -0.01084948 0.00116436 -0.00060159
+v -0.01134686 0.00116436 -0.00068244
+v -0.01457186 -0.00120957 -0.00083664
+v -0.01457186 0.00116437 -0.00169014
+v -0.00843715 0.00116436 -0.00047074
+v -0.00989017 0.00116436 -0.00049491
+v -0.00223767 -0.00742093 0.00080115
+v -0.00262506 -0.00749096 0.00080115
+v -0.01216564 0.00116436 -0.00085164
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 20
+f 3 20 21
+f 3 21 13
+f 3 13 8
+f 4 9 10
+f 4 10 5
+f 5 10 9
+f 5 9 17
+f 5 17 22
+f 5 22 15
+f 5 15 14
+f 5 14 19
+f 5 19 18
+f 5 18 11
+f 5 11 12
+f 5 12 7
+f 5 7 6
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 13 21 19
+f 13 19 14
+f 15 22 16
+f 16 22 17
+f 19 21 20
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_40.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1877e6f706efe00ee895747d7ac5105366bf7990
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_40.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02025710 0.00116436 0.00105371
+v -0.01457187 0.00116437 -0.00169079
+v -0.02092021 0.00116436 0.00105371
+v -0.02022106 0.00076209 0.00105371
+v -0.01457187 -0.00215557 -0.00075548
+v -0.01457187 -0.00128696 -0.00082836
+v -0.01457187 -0.00120877 -0.00083627
+v -0.01457187 0.00116439 -0.00715082
+v -0.02092021 0.00116439 -0.00791752
+v -0.02092021 -0.00460878 0.00105369
+v -0.02021608 0.00069897 0.00105371
+v -0.02021360 0.00066599 0.00105371
+v -0.01457187 -0.00372133 -0.00071947
+v -0.02002405 0.00116439 -0.00784990
+v -0.01457187 0.00066602 -0.00717014
+v -0.02055914 0.00116439 -0.00789293
+v -0.02006445 0.00066602 -0.00786131
+v -0.02092021 0.00066602 -0.00791840
+v -0.02092021 -0.00846006 -0.00123238
+v -0.01819816 -0.00846006 -0.00082224
+v -0.01745177 -0.00846006 -0.00071686
+v -0.01715844 -0.00846006 -0.00068348
+v -0.01570481 -0.00846006 -0.00063781
+v -0.01457187 -0.00846006 -0.00070456
+v -0.02082637 -0.00431391 0.00105369
+v -0.02022541 -0.00070098 0.00105371
+v -0.01998303 -0.00218098 -0.00782180
+v -0.01932551 -0.00164116 -0.00774715
+v -0.02006445 -0.00079610 -0.00785780
+v -0.01457187 -0.00846004 -0.00670821
+v -0.02075179 -0.00846003 -0.00775771
+v -0.02092021 -0.00846003 -0.00778054
+v -0.02033354 -0.00372130 -0.00782883
+v -0.02092021 -0.00079610 -0.00791489
+v -0.02022665 -0.00079613 0.00105371
+v -0.02037580 -0.00225920 0.00105370
+v -0.02062439 -0.00358756 0.00105370
+v -0.02092021 -0.00222903 -0.00789997
+v -0.02092021 -0.00372130 -0.00788328
+v -0.02092021 -0.00518343 -0.00785518
+f 1 2 8
+f 1 8 14
+f 1 14 16
+f 1 16 9
+f 1 9 3
+f 1 3 10
+f 1 10 25
+f 1 25 37
+f 1 37 36
+f 1 36 35
+f 1 35 26
+f 1 26 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 5
+f 2 5 13
+f 2 13 24
+f 2 24 30
+f 2 30 15
+f 2 15 8
+f 3 9 18
+f 3 18 34
+f 3 34 38
+f 3 38 39
+f 3 39 40
+f 3 40 32
+f 3 32 19
+f 3 19 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 8 15 14
+f 9 16 17
+f 9 17 18
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 12 26 24
+f 12 24 13
+f 14 15 17
+f 14 17 16
+f 15 27 28
+f 15 28 29
+f 15 29 17
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 27
+f 17 29 34
+f 17 34 18
+f 19 32 31
+f 19 31 30
+f 19 30 24
+f 19 24 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 24 26 35
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 27 29 28
+f 27 33 29
+f 29 38 34
+f 29 33 39
+f 29 39 38
+f 32 40 33
+f 33 40 39
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_41.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619a3852deb1635f4694379b81dc4f380280134f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_41.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01549164 -0.01718058 -0.00777667
+v -0.02092021 -0.00846003 -0.00778012
+v -0.01523808 -0.01718058 -0.00776884
+v -0.01577255 -0.01718058 -0.00777580
+v -0.02092021 -0.01308749 -0.00783671
+v -0.02092021 -0.01249849 -0.00782974
+v -0.02092021 -0.01184718 -0.00782190
+v -0.02079778 -0.00846003 -0.00776446
+v -0.01457187 -0.01718058 -0.00771314
+v -0.01487825 -0.01718058 -0.00774882
+v -0.02092021 -0.00846006 -0.00123244
+v -0.01676131 -0.01718058 -0.00776797
+v -0.02092021 -0.01403756 -0.00779928
+v -0.02075179 -0.00846003 -0.00775836
+v -0.01457187 -0.00846004 -0.00670798
+v -0.01457187 -0.01718061 0.00105365
+v -0.02092021 -0.00964317 -0.00116805
+v -0.01723426 -0.01700135 0.00105365
+v -0.01719883 -0.01678539 0.00105365
+v -0.01699561 -0.01573715 0.00105365
+v -0.01690425 -0.01533424 0.00105365
+v -0.01669668 -0.01463257 0.00105366
+v -0.01632566 -0.01343238 0.00105366
+v -0.01582227 -0.01230561 0.00105366
+v -0.01569300 -0.01209135 0.00105367
+v -0.01527599 -0.01146052 0.00105367
+v -0.01457373 -0.01064532 0.00105367
+v -0.01819816 -0.00846006 -0.00082169
+v -0.01691544 -0.01718058 -0.00776187
+v -0.02092021 -0.01430048 -0.00777231
+v -0.01457187 -0.00846006 -0.00070508
+v -0.01457187 -0.01107981 0.00105367
+v -0.01722245 -0.01718061 0.00105365
+v -0.02092021 -0.01718061 -0.00112630
+v -0.01457187 -0.01064788 0.00105193
+v -0.01570481 -0.00846006 -0.00063807
+v -0.01715844 -0.00846006 -0.00068332
+v -0.01745177 -0.00846006 -0.00071726
+v -0.02092021 -0.01718058 -0.00742248
+v -0.02092021 -0.01545457 -0.00765048
+f 1 2 3
+f 1 3 10
+f 1 10 9
+f 1 9 16
+f 1 16 33
+f 1 33 34
+f 1 34 39
+f 1 39 29
+f 1 29 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 6
+f 2 6 5
+f 2 5 13
+f 2 13 30
+f 2 30 40
+f 2 40 39
+f 2 39 34
+f 2 34 17
+f 2 17 11
+f 2 11 28
+f 2 28 38
+f 2 38 37
+f 2 37 36
+f 2 36 31
+f 2 31 15
+f 2 15 14
+f 2 14 8
+f 4 12 5
+f 5 12 13
+f 8 14 9
+f 9 14 15
+f 9 15 31
+f 9 31 35
+f 9 35 32
+f 9 32 16
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 12 29 13
+f 13 29 30
+f 16 32 27
+f 16 27 26
+f 16 26 25
+f 16 25 24
+f 16 24 23
+f 16 23 22
+f 16 22 21
+f 16 21 20
+f 16 20 19
+f 16 19 18
+f 16 18 33
+f 17 34 18
+f 18 34 33
+f 27 32 35
+f 27 35 31
+f 27 31 36
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 29 39 40
+f 29 40 30
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_42.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a25f4eb5425e27c2aa63f819c16008bc53d93b8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_42.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00009522 0.01599953 0.00275213
+v 0.00009948 0.01599953 0.00248458
+v 0.00036508 0.01599953 0.00357361
+v 0.00085527 0.01922186 0.00337476
+v 0.00085527 0.01922186 0.00281588
+v 0.00050684 0.01599953 0.00201638
+v 0.00109609 0.01822007 0.00193200
+v 0.00086466 0.01599953 0.00374419
+v 0.00173573 0.01822007 0.00387797
+v 0.00172292 0.01969817 0.00359651
+v 0.00637034 0.02512850 0.00341652
+v 0.00551208 0.02455673 0.00250975
+v 0.00147356 0.01969817 0.00241995
+v 0.00076987 0.01599953 0.00174749
+v 0.00215163 0.01968178 0.00170172
+v 0.00182113 0.01822007 0.00155223
+v 0.00173573 0.01599953 0.00389816
+v 0.00318922 0.01968178 0.00387977
+v 0.00782981 0.01644498 0.00461280
+v 0.00596982 0.02418262 0.00354536
+v 0.00754885 0.02406885 0.00378282
+v 0.00754885 0.02529434 0.00350092
+v 0.00754885 0.02574461 0.00250975
+v 0.00623883 0.02523745 0.00250975
+v 0.00649588 0.02505425 0.00165056
+v 0.00246077 0.02041553 0.00182561
+v 0.00167937 0.01599953 0.00140813
+v 0.00604497 0.02405342 0.00149524
+v 0.00821411 0.02339200 0.00040712
+v 0.00800146 0.02260715 0.00027199
+v 0.00769488 0.02165838 0.00021408
+v 0.00751127 0.02108565 0.00017952
+v 0.00318922 0.01822008 0.00113970
+v 0.00782981 0.01599952 0.00461280
+v 0.00881959 0.01756441 0.00458273
+v 0.00881959 0.01682777 0.00461370
+v 0.00881873 0.02406885 0.00361763
+v 0.00881873 0.02509668 0.00346500
+v 0.00881873 0.02525095 0.00342909
+v 0.00881873 0.02579186 0.00263410
+v 0.00881873 0.02584875 0.00250975
+v 0.00881873 0.02546018 0.00150602
+v 0.00754885 0.02525095 0.00149390
+v 0.00881873 0.02363883 0.00035056
+v 0.00881873 0.02354337 0.00030477
+v 0.00318922 0.01599954 0.00103824
+v 0.00881873 0.02278938 0.00007448
+v 0.00881873 0.02260715 0.00002779
+v 0.00750700 0.01963069 0.00025133
+v 0.00671535 0.01886030 0.00038286
+v 0.00668632 0.01968179 0.00034650
+v 0.00851984 0.01599952 0.00461280
+v 0.00881959 0.01667928 0.00461370
+v 0.00881959 0.02165837 0.00355073
+v 0.00881959 0.02165838 0.00012834
+v 0.00881873 0.02539750 0.00137808
+v 0.00881873 0.02443718 0.00078105
+v 0.00464186 0.01599954 0.00098617
+v 0.00881959 0.02102202 0.00011712
+v 0.00699546 0.01886030 0.00038286
+v 0.00881959 0.02026127 0.00023337
+v 0.00874358 0.02008482 0.00026390
+v 0.00868722 0.01599952 0.00453380
+v 0.00881959 0.01604966 0.00448262
+v 0.00614489 0.01599954 0.00124024
+v 0.00881959 0.01999804 0.00033303
+v 0.00881959 0.01708907 0.00162539
+v 0.00735072 0.01599953 0.00158903
+v 0.00881959 0.01599952 0.00440856
+v 0.00881959 0.01635436 0.00210975
+v 0.00816714 0.01611331 0.00188351
+v 0.00810992 0.01599953 0.00193738
+v 0.00881959 0.01599953 0.00244553
+f 1 2 6
+f 1 6 14
+f 1 14 27
+f 1 27 46
+f 1 46 58
+f 1 58 65
+f 1 65 68
+f 1 68 72
+f 1 72 73
+f 1 73 69
+f 1 69 63
+f 1 63 52
+f 1 52 34
+f 1 34 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 13 7
+f 5 12 13
+f 6 7 14
+f 7 13 15
+f 7 15 16
+f 7 16 14
+f 8 17 9
+f 9 18 10
+f 9 17 19
+f 9 19 18
+f 10 18 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 15
+f 14 16 27
+f 15 26 25
+f 15 25 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 27
+f 17 34 19
+f 18 19 35
+f 18 35 21
+f 18 21 20
+f 19 34 53
+f 19 53 36
+f 19 36 35
+f 21 37 38
+f 21 38 22
+f 21 35 37
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 22 38 39
+f 23 41 42
+f 23 42 43
+f 23 43 25
+f 23 25 24
+f 25 43 44
+f 25 44 45
+f 25 45 29
+f 25 29 28
+f 27 33 32
+f 27 32 46
+f 29 45 47
+f 29 47 48
+f 29 48 30
+f 30 48 31
+f 31 48 32
+f 32 49 50
+f 32 50 51
+f 32 51 46
+f 32 48 49
+f 34 52 53
+f 35 36 53
+f 35 53 64
+f 35 64 69
+f 35 69 73
+f 35 73 70
+f 35 70 67
+f 35 67 66
+f 35 66 61
+f 35 61 59
+f 35 59 55
+f 35 55 54
+f 35 54 39
+f 35 39 38
+f 35 38 37
+f 39 54 40
+f 40 54 41
+f 41 54 55
+f 41 55 42
+f 42 56 43
+f 42 55 56
+f 43 56 57
+f 43 57 44
+f 44 57 55
+f 44 55 45
+f 45 55 47
+f 46 51 50
+f 46 50 58
+f 47 55 48
+f 48 55 59
+f 48 59 49
+f 49 60 50
+f 49 59 61
+f 49 61 62
+f 49 62 60
+f 50 60 58
+f 52 63 64
+f 52 64 53
+f 55 57 56
+f 58 60 65
+f 60 62 65
+f 61 66 62
+f 62 66 67
+f 62 67 68
+f 62 68 65
+f 63 69 64
+f 67 70 71
+f 67 71 68
+f 68 71 72
+f 70 73 72
+f 70 72 71
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_43.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d0ca07ade766cf9561cb8c9e38c5ab0d8d4c54b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_43.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.00951375 -0.00730956 -0.00715643
+v 0.00951375 -0.01119472 -0.00704955
+v 0.00951375 -0.00730958 -0.00143955
+v 0.00966108 -0.00730956 -0.00715139
+v 0.01629286 -0.01119472 -0.00685705
+v 0.00951375 -0.01119474 -0.00143956
+v 0.01329917 -0.00730958 -0.00143955
+v 0.01045613 -0.00730956 -0.00712229
+v 0.01629286 -0.00730956 -0.00685480
+v 0.01629286 -0.01119474 -0.00166005
+v 0.01111380 -0.00730956 -0.00709319
+v 0.01231366 -0.01119474 -0.00143956
+v 0.01330050 -0.00734572 -0.00143955
+v 0.01626897 -0.01119474 -0.00165613
+v 0.01629286 -0.00730958 -0.00227448
+v 0.01332704 -0.00810563 -0.00143955
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 9
+f 1 9 11
+f 1 11 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 14
+f 2 14 12
+f 2 12 6
+f 3 6 12
+f 3 12 16
+f 3 16 13
+f 3 13 7
+f 4 8 5
+f 5 9 15
+f 5 15 10
+f 5 8 11
+f 5 11 9
+f 7 13 14
+f 7 14 10
+f 7 10 15
+f 12 14 16
+f 13 16 14
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_44.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cea9cd666259aa73dbcbef5aa32a0da1f5a9879
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_44.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00290369 -0.02538092 -0.00790839
+v -0.00208791 -0.02538092 -0.00790839
+v -0.00407869 -0.02538092 -0.00790063
+v -0.00407869 -0.02419854 -0.00793055
+v -0.00262537 -0.02419854 -0.00793720
+v -0.00208791 -0.02473876 -0.00792501
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_45.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c62675daffc08524c604ba316da32a6ce7b27236
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_45.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_46.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54243a686e1948b1e5320ae081028f9c5002c56e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_46.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.00208735 -0.00730923 0.00465036
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+f 26 44 40
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+f 31 49 45
+f 32 47 50
+f 32 50 33
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_47.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7786e054fd8b2327c12c42fd968985efb9271b14
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_47.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00967819 -0.00730922 0.00169821
+v 0.00999071 -0.00730921 0.00074163
+v 0.00967819 -0.00730922 0.00190385
+v 0.01026511 0.00116353 0.00112864
+v 0.01362603 -0.00730921 0.00074163
+v 0.01045285 0.00116353 0.00074166
+v 0.00968165 -0.00730922 0.00191536
+v 0.01033963 0.00116352 0.00159824
+v 0.01371153 -0.00730921 0.00084752
+v 0.01384728 -0.00691274 0.00074163
+v 0.01366012 0.00116353 0.00074166
+v 0.01006523 -0.00730922 0.00241974
+v 0.01060131 0.00116352 0.00227628
+v 0.01411879 -0.00730922 0.00137722
+v 0.01395646 -0.00671284 0.00074164
+v 0.01379934 0.00116353 0.00099181
+v 0.01405063 0.00054062 0.00074166
+v 0.01033847 -0.00730922 0.00264942
+v 0.01190918 0.00116352 0.00247885
+v 0.01112816 -0.00730922 0.00321877
+v 0.01114664 -0.00730922 0.00322260
+v 0.01160070 -0.00730922 0.00331596
+v 0.01424588 -0.00730922 0.00156879
+v 0.01396282 -0.00669874 0.00074164
+v 0.01439203 -0.00664649 0.00135421
+v 0.01386404 0.00116353 0.00114322
+v 0.01439377 -0.00027887 0.00074166
+v 0.01336203 -0.00225958 0.00262821
+v 0.01336203 -0.00079645 0.00241593
+v 0.01330022 0.00116352 0.00211515
+v 0.01190918 -0.00730922 0.00334435
+v 0.01262087 -0.00730922 0.00335458
+v 0.01288083 -0.00701560 0.00328629
+v 0.01424588 -0.00730922 0.00210847
+v 0.01532325 -0.00375837 0.00114551
+v 0.01557916 -0.00329556 0.00160258
+v 0.01398535 -0.00664649 0.00074164
+v 0.01418465 -0.00614551 0.00074164
+v 0.01468087 -0.00533017 0.00100662
+v 0.01557916 -0.00284683 0.00160258
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+v 0.01415692 0.00013584 0.00188598
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+v 0.01485880 -0.00160348 0.00074165
+v 0.01487959 -0.00231930 0.00214583
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+v 0.01404254 -0.00730922 0.00237447
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+v 0.01453472 -0.00517423 0.00074164
+v 0.01498300 -0.00374179 0.00074165
+v 0.01502055 -0.00311722 0.00074165
+v 0.01494487 -0.00375838 0.00222333
+v 0.01500726 -0.00229358 0.00074165
+v 0.01315811 -0.00730922 0.00315278
+v 0.01466065 -0.00518419 0.00234532
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+f 1 14 23
+f 1 23 34
+f 1 34 50
+f 1 50 58
+f 1 58 48
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+f 1 18 12
+f 1 12 7
+f 1 7 3
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+f 1 4 2
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+f 28 46 29
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+f 29 46 30
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+f 30 47 42
+f 32 48 33
+f 33 48 46
+f 34 49 50
+f 34 51 49
+f 35 39 52
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 44
+f 35 44 40
+f 35 40 36
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+f 38 52 39
+f 40 44 41
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+f 44 57 45
+f 46 48 56
+f 48 58 56
+f 49 59 58
+f 49 58 50
+f 49 51 59
+f 51 56 58
+f 51 58 59
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_48.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3fcc5412b0df1fa900857ef2154deae58e94ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_48.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00208735 -0.02262783 -0.00791164
+v -0.00208735 -0.02181414 -0.00787858
+v -0.00127896 -0.02262783 -0.00790751
+v -0.00208735 -0.02262787 0.00228039
+v -0.00208735 -0.02127367 -0.00785378
+v -0.00117091 -0.02127367 -0.00784551
+v -0.00117091 -0.02262783 -0.00790647
+v 0.00165462 -0.02262787 0.00226489
+v -0.00208735 -0.02127371 0.00242091
+v -0.00208735 -0.02044103 -0.00780522
+v 0.00165462 -0.02262783 -0.00787134
+v 0.00017373 -0.02262783 -0.00788994
+v -0.00117091 -0.02008454 -0.00777317
+v 0.00165462 -0.01753430 0.00140214
+v 0.00124328 -0.01753430 0.00197457
+v 0.00093487 -0.01753430 0.00210682
+v 0.00022281 -0.01753430 0.00231348
+v -0.00036178 -0.01753430 0.00245606
+v -0.00181520 -0.01753430 0.00264205
+v -0.00208735 -0.01927138 0.00254595
+v -0.00208735 -0.02000177 -0.00777834
+v 0.00165462 -0.02125323 -0.00778352
+v -0.00208735 -0.01954058 -0.00774734
+v -0.00208735 -0.01927034 -0.00772874
+v -0.00117091 -0.01935361 -0.00772254
+v 0.00165462 -0.01753426 -0.00748592
+v -0.00208735 -0.01753430 0.00264102
+v -0.00208735 -0.01780853 0.00262964
+v 0.00165462 -0.02122530 -0.00778145
+v -0.00208735 -0.01871990 -0.00768741
+v -0.00117091 -0.01834896 -0.00764712
+v 0.00165462 -0.02062949 -0.00773392
+v 0.00028215 -0.01753426 -0.00754068
+v -0.00208735 -0.01753426 -0.00759544
+v 0.00028215 -0.01962384 -0.00770085
+v 0.00028215 -0.01834896 -0.00760372
+v -0.00208735 -0.01834896 -0.00765952
+v -0.00117091 -0.01753426 -0.00758408
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+f 1 8 4
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+f 29 33 32
+f 30 37 31
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+f 31 38 33
+f 31 33 36
+f 31 36 35
+f 34 38 37
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_49.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e46c7ed4763c7011c7230ea7bc2c6f0b573598e5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_49.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01629286 0.00116354 -0.00176668
+v 0.01327747 -0.00529865 -0.00023079
+v 0.01327567 -0.00619196 -0.00023079
+v 0.01629286 -0.00730920 -0.00227465
+v 0.01629286 0.00116356 -0.00741830
+v 0.00773246 0.00116353 -0.00023077
+v 0.01288525 -0.00380731 -0.00023078
+v 0.01321989 -0.00663571 -0.00023079
+v 0.01629286 -0.00730918 -0.00685438
+v 0.01304358 -0.00730921 -0.00023080
+v 0.01629286 0.00066590 -0.00746675
+v 0.00440401 0.00116356 -0.00796257
+v -0.00106003 0.00116353 -0.00023077
+v 0.01629286 -0.00228526 -0.00742967
+v 0.01111308 -0.00730918 -0.00709359
+v 0.00898467 -0.00730921 -0.00023080
+v 0.01629286 -0.00079641 -0.00754018
+v 0.00754894 -0.00730918 -0.00719805
+v 0.00318958 0.00116356 -0.00796409
+v 0.01629286 -0.00082544 -0.00753866
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+v -0.00208555 0.00116353 -0.00040412
+v -0.00208555 0.00085000 -0.00039049
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+v -0.00112300 0.00066587 -0.00023077
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+v -0.00208555 0.00116356 -0.00767643
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+v -0.00122556 -0.00079644 -0.00023077
+v -0.00076317 -0.00225957 -0.00023078
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+v 0.00173586 -0.00730918 -0.00709964
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+v -0.00208555 -0.00730918 -0.00694976
+v -0.00116978 0.00116356 -0.00777636
+v -0.00208555 -0.00730921 -0.00031255
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+v -0.00095928 -0.00196180 -0.00023078
+v -0.00116978 -0.00730918 -0.00698610
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+f 1 9 14
+f 1 14 27
+f 1 27 20
+f 1 20 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
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+f 1 19 34
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+f 1 22 13
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+f 2 37 47
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+f 22 24 23
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+f 43 49 44
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+f 46 48 47
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_5.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feda159b4269d48c628ed912f0f3280897e614e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_5.obj
@@ -0,0 +1,1012 @@
+# https://github.com/mikedh/trimesh
+v 0.00464330 -0.03590171 -0.00796363
+v 0.00609702 -0.03590171 -0.00796363
+v 0.00028394 -0.03736342 -0.00795795
+v -0.00208555 -0.03590171 -0.00795937
+v 0.00754894 -0.03443892 -0.00796363
+v 0.00318958 -0.03736342 -0.00795369
+v 0.00173586 -0.03736342 -0.00795653
+v 0.00900087 -0.03443892 -0.00796363
+v 0.00754894 -0.03590171 -0.00795794
+v 0.00028394 -0.03882621 -0.00787549
+v -0.00116978 -0.03736342 -0.00795653
+v -0.00208555 -0.03644126 -0.00795794
+v -0.00208555 -0.03497954 -0.00793093
+v 0.00900087 -0.03083515 -0.00793802
+v 0.01045459 -0.03083515 -0.00795508
+v 0.01190831 -0.03083515 -0.00796077
+v 0.01336203 -0.03083515 -0.00796219
+v 0.00464330 -0.03736342 -0.00794658
+v 0.01190831 -0.03297613 -0.00796078
+v 0.01045459 -0.03443892 -0.00795652
+v 0.01336203 -0.03151334 -0.00796220
+v 0.00900087 -0.03590171 -0.00794230
+v 0.00028394 -0.03962156 -0.00777029
+v -0.00116978 -0.03961619 -0.00776886
+v -0.00116978 -0.03882621 -0.00787265
+v -0.00208555 -0.03736342 -0.00795511
+v 0.00173586 -0.03882621 -0.00786554
+v -0.00208555 -0.03443892 -0.00790960
+v 0.00754894 -0.03083515 -0.00789110
+v 0.01481575 -0.03083515 -0.00795792
+v 0.00609702 -0.03736342 -0.00792952
+v 0.01481575 -0.03151334 -0.00795225
+v 0.01336203 -0.03297613 -0.00794372
+v 0.01190831 -0.03443892 -0.00792951
+v 0.01045459 -0.03590171 -0.00789112
+v 0.00754894 -0.03736342 -0.00788686
+v 0.00028394 -0.04035349 -0.00717739
+v 0.00173586 -0.03960329 -0.00776175
+v -0.00116978 -0.04034704 -0.00715748
+v -0.00208555 -0.03986661 -0.00753426
+v -0.00208555 -0.03959577 -0.00775891
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+v -0.00208555 -0.03790405 -0.00792383
+v 0.00464330 -0.03863168 -0.00783568
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+v 0.00272540 -0.03957857 -0.00775180
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+v -0.00208555 -0.03083515 -0.00744181
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_50.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f1358ffedbac2fb6220fa32cbfbe48ad3c1cd41
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_50.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_51.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9321d51f12cb141de4cd740a7621abc96a4dce6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_51.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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+v 0.02644240 0.02406963 -0.00794886
+v 0.02644240 0.02551362 -0.00792897
+v 0.02645800 0.02551362 -0.00792755
+v 0.02191682 0.02551358 0.00387683
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+f 156 159 158
+f 156 161 159
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_52.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df7ea245494eb0fc7bdd9b669f771d1539fc19c1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_52.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00405757 -0.02262783 -0.00787225
+v 0.00165485 -0.02262783 -0.00787124
+v 0.00405757 -0.02133549 -0.00779082
+v 0.00405757 -0.02262787 0.00251740
+v 0.00165485 -0.02125323 -0.00778370
+v 0.00165485 -0.02262787 0.00226496
+v 0.00405757 -0.02102886 -0.00776232
+v 0.00165485 -0.02122530 -0.00778166
+v 0.00165485 -0.01753426 -0.00748645
+v 0.00405757 -0.01753430 0.00236881
+v 0.00329712 -0.02262787 0.00252656
+v 0.00318892 -0.02262787 0.00251740
+v 0.00165485 -0.01753430 0.00140181
+v 0.00405757 -0.01926087 -0.00759334
+v 0.00405757 -0.01753426 -0.00742538
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 15
+f 1 15 10
+f 1 10 4
+f 1 4 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 9
+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 9
+f 3 9 7
+f 4 10 11
+f 6 12 10
+f 6 10 13
+f 7 9 14
+f 9 15 14
+f 9 13 10
+f 9 10 15
+f 10 12 11
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_53.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3819affa2f99199b694aea5bb83dc8c384d6b827
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_53.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01457186 -0.00846007 0.00163985
+v -0.01436769 -0.00846007 0.00158492
+v -0.01457186 -0.00846008 0.00521959
+v -0.01457186 -0.00047395 0.00238211
+v -0.01426393 -0.00846007 0.00155723
+v -0.01457186 -0.00843182 0.00522267
+v -0.01321573 -0.00846008 0.00479684
+v -0.01016207 -0.00334357 0.00600491
+v -0.01134471 -0.00325690 0.00598557
+v -0.01457186 0.00098912 0.00253548
+v -0.01425110 -0.00079614 0.00227356
+v -0.01279735 -0.00846007 0.00151549
+v -0.01279735 -0.00079614 0.00216722
+v -0.01457186 -0.00696875 0.00537076
+v -0.01296972 -0.00846008 0.00470148
+v -0.00901792 -0.00328328 0.00499901
+v -0.00887343 -0.00225922 0.00514710
+v -0.00976320 -0.00220270 0.00582781
+v -0.01016207 -0.00265208 0.00600491
+v -0.01234549 -0.00846008 0.00442156
+v -0.00971746 -0.00380049 0.00544241
+v -0.01134471 -0.00273498 0.00598557
+v -0.01457186 0.00116434 0.00579881
+v -0.01457186 -0.00225451 0.00573509
+v -0.01457186 -0.00372135 0.00568235
+v -0.01457186 0.00116435 0.00255481
+v -0.01425110 0.00116435 0.00249197
+v -0.01196169 -0.00846007 0.00173477
+v -0.01134471 -0.00079614 0.00234563
+v -0.01329216 0.00116435 0.00246033
+v -0.01279735 0.00066598 0.00238914
+v -0.00901792 -0.00328328 0.00435346
+v -0.01166212 -0.00846007 0.00382874
+v -0.01150146 -0.00846007 0.00250996
+v -0.00887343 -0.00225922 0.00408935
+v -0.00895321 -0.00079615 0.00485093
+v -0.00989151 -0.00079615 0.00530839
+v -0.01283528 0.00116434 0.00544198
+v -0.01425110 0.00116434 0.00573729
+v -0.00995008 -0.00079614 0.00284792
+v -0.00922321 -0.00079614 0.00334977
+v -0.00940562 -0.00225921 0.00340645
+v -0.01124429 0.00078092 0.00274685
+v -0.01016988 0.00037017 0.00294900
+v -0.01276890 0.00116435 0.00253240
+v -0.01163590 0.00116435 0.00276970
+v -0.00895321 -0.00079614 0.00403311
+v -0.00912502 -0.00001799 0.00460396
+v -0.01141723 0.00116434 0.00492651
+v -0.00912502 -0.00001799 0.00427833
+v -0.01140440 0.00116435 0.00285100
+v -0.01072494 0.00116435 0.00379274
+v -0.00976767 0.00042481 0.00384415
+v -0.01068254 0.00116435 0.00387359
+f 1 2 5
+f 1 5 12
+f 1 12 28
+f 1 28 34
+f 1 34 33
+f 1 33 20
+f 1 20 15
+f 1 15 7
+f 1 7 3
+f 1 3 6
+f 1 6 14
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+f 1 25 24
+f 1 24 23
+f 1 23 26
+f 1 26 10
+f 1 10 4
+f 1 4 2
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+f 44 53 50
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+f 48 54 49
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+f 52 54 53
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_54.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1902ff50db60728566b5448f88f09ab2437294c0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_54.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01626896 -0.02623521 -0.00793939
+v 0.01629286 -0.02623521 -0.00793939
+v 0.01481555 -0.02623521 -0.00790952
+v 0.01626896 -0.02566211 -0.00792800
+v 0.01629286 -0.02566211 -0.00792800
+v 0.01629286 -0.02623524 -0.00067476
+v 0.01336274 -0.02623521 -0.00787040
+v 0.01316365 -0.02623521 -0.00786471
+v 0.01481555 -0.02566211 -0.00788533
+v 0.01316365 -0.02262818 -0.00762216
+v 0.01629286 -0.02417057 -0.00781705
+v 0.01629286 -0.02411163 -0.00067475
+v 0.01403876 -0.02623524 -0.00067476
+v 0.01316365 -0.02564587 -0.00782914
+v 0.01316365 -0.02623523 -0.00146850
+v 0.01610142 -0.02262818 -0.00757948
+v 0.01316365 -0.02262820 -0.00174373
+v 0.01629286 -0.02262818 -0.00756668
+v 0.01622976 -0.02415789 -0.00067475
+v 0.01629286 -0.02262820 -0.00195568
+v 0.01392451 -0.02623524 -0.00074801
+v 0.01472458 -0.02554773 -0.00067475
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 15
+f 1 15 8
+f 1 8 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 18
+f 2 18 20
+f 2 20 12
+f 2 12 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 19
+f 6 19 22
+f 6 22 13
+f 8 14 9
+f 8 15 17
+f 8 17 10
+f 8 10 14
+f 9 14 10
+f 10 16 11
+f 10 17 20
+f 10 20 18
+f 10 18 16
+f 11 16 18
+f 12 17 19
+f 12 20 17
+f 13 22 17
+f 13 17 21
+f 15 21 17
+f 17 22 19
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_55.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f97d7b72f7b578560c327e4f95b8b9c0a443d6e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_55.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01516638 0.02365823 0.00250973
+v 0.01517332 0.02366350 0.00250973
+v 0.01516638 0.02366060 0.00251512
+v 0.01516638 0.02413934 0.00119319
+v 0.01599531 0.02439951 0.00148289
+v 0.01598735 0.02439478 0.00250973
+v 0.01568277 0.02466095 0.00325434
+v 0.01516638 0.02437117 0.00329145
+v 0.01516638 0.02477288 0.00069967
+v 0.01526830 0.02501489 0.00057158
+v 0.01638929 0.02541387 0.00103367
+v 0.01661413 0.02551416 0.00114949
+v 0.01689586 0.02551415 0.00254624
+v 0.01675788 0.02540822 0.00264231
+v 0.01678344 0.02551415 0.00270666
+v 0.01598888 0.02551415 0.00329983
+v 0.01598227 0.02551415 0.00330073
+v 0.01516638 0.02460699 0.00331480
+v 0.01516638 0.02512299 0.00047701
+v 0.01594130 0.02551416 0.00072212
+v 0.01628940 0.02551416 0.00090109
+v 0.01642349 0.02551416 0.00099477
+v 0.01516638 0.02551415 0.00338184
+v 0.01516638 0.02551416 0.00032438
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 23
+f 1 23 24
+f 1 24 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 22 21
+f 12 21 20
+f 12 20 24
+f 12 24 23
+f 12 23 17
+f 12 17 16
+f 12 16 15
+f 12 15 13
+f 13 15 14
+f 17 23 18
+f 19 24 20
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_56.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a9b9c734f0385f2f87fcf785487229a9b4cc1d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_56.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.00881959 0.01562245 0.00278442
+v 0.00977941 0.01598925 0.00314268
+v 0.00977941 0.01598925 0.00332389
+v 0.00881959 0.01563185 0.00363209
+v 0.00881959 0.01635470 0.00211008
+v 0.00900286 0.01642457 0.00217312
+v 0.01026957 0.01691095 0.00263148
+v 0.01130456 0.01735568 0.00303144
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_57.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ce0664b3a65d20e9afcf1dddbc857373e1df4a0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_57.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01199479 -0.02208300 -0.00783744
+v -0.01279833 -0.02208300 -0.00782252
+v -0.01279833 -0.02127393 -0.00783147
+v -0.01054168 -0.02208300 -0.00783147
+v -0.01349254 -0.02208300 -0.00780013
+v -0.01425052 -0.01981127 -0.00781654
+v -0.01549136 -0.01718106 -0.00777624
+v -0.00909131 -0.02208300 -0.00782028
+v -0.01413755 -0.02208300 -0.00777476
+v -0.01691440 -0.01718106 -0.00776206
+v -0.01676044 -0.01718106 -0.00776803
+v -0.01577196 -0.01718106 -0.00777549
+v -0.01523718 -0.01718106 -0.00776878
+v -0.01471880 -0.01743252 -0.00776430
+v -0.00909131 -0.02138622 -0.00777999
+v -0.00909131 -0.02208303 -0.00021470
+v -0.01839757 -0.02208300 -0.00752256
+v -0.01658096 -0.01791431 -0.00775983
+v -0.01754849 -0.01718106 -0.00770087
+v -0.01487732 -0.01718106 -0.00774863
+v -0.00909131 -0.01718106 -0.00738450
+v -0.00909131 -0.01986933 -0.00764940
+v -0.00909131 -0.02042695 -0.00770015
+v -0.01573187 -0.02208303 -0.00021470
+v -0.00909131 -0.01718109 -0.00021468
+v -0.01839757 -0.02208303 -0.00115262
+v -0.01839757 -0.01718106 -0.00757104
+v -0.01813155 -0.01718106 -0.00761357
+v -0.01619833 -0.01718109 -0.00021468
+v -0.01839757 -0.01718109 -0.00122871
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+f 1 17 9
+f 1 9 5
+f 1 5 2
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+f 17 27 28
+f 17 28 19
+f 24 29 26
+f 26 29 30
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_58.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da26a05925d1b97033001e1bfacbb72464ca942a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_58.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01932762 -0.00025025 0.00616256
+v -0.01932762 0.00066644 0.00614556
+v -0.01971380 0.00066644 0.00607605
+v -0.01975404 -0.00079619 0.00609505
+v -0.01932762 -0.00079619 0.00615356
+v -0.01932762 0.00116378 0.00611255
+v -0.02092083 0.00066644 0.00578750
+v -0.01938845 0.00116378 0.00610155
+v -0.02092083 -0.00047688 0.00578950
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+v -0.01932762 -0.00145347 0.00606004
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+v -0.02092083 0.00116378 0.00568798
+v -0.02092083 -0.00224752 0.00557095
+v -0.02092083 -0.00328402 0.00524190
+v -0.01932762 -0.00171005 0.00601153
+v -0.01932762 0.00095524 0.00382317
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+v -0.02092083 0.00116380 0.00105421
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+v -0.01932762 -0.00203954 0.00566997
+v -0.01932762 0.00066645 0.00375466
+v -0.02021399 0.00066646 0.00105421
+v -0.02092083 -0.00460873 0.00105419
+v -0.02092083 -0.00404527 0.00390467
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+v -0.01932762 0.00009564 0.00369065
+v -0.01932762 -0.00079618 0.00363414
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+v -0.02062449 -0.00358692 0.00105420
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_59.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2edd85d51f834e5a0fd2655ea1e1615604a4393f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_59.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00898544 -0.00730921 -0.00024457
+v 0.00898544 -0.00730921 0.00075543
+v 0.00898544 0.00116353 -0.00024457
+v 0.00898544 0.00116353 0.00075543
+v 0.01502016 -0.00730921 -0.00024457
+v 0.01502016 -0.00730921 0.00075543
+v 0.01502016 0.00116353 -0.00024457
+v 0.01502016 0.00116353 0.00075543
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_6.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09374a1eeda12d4eb28ed03e1b85867449d773df
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_6.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v -0.03213759 0.01821830 0.00387644
+v -0.03172941 0.01821829 0.00524349
+v -0.03164659 0.01968032 0.00524349
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+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_60.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0103271a32fec6703ca32f4ccc7c3ef3490943c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_60.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00122600 -0.00354661 -0.00024456
+v -0.00122600 -0.00354661 0.00075544
+v -0.00122600 0.00116436 -0.00024456
+v -0.00122600 0.00116436 0.00075544
+v 0.00773327 -0.00354661 -0.00024456
+v 0.00773327 -0.00354661 0.00075544
+v 0.00773327 0.00116436 -0.00024456
+v 0.00773327 0.00116436 0.00075544
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_61.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316e655b0bd9c917ee594e33e40f1d956a8aa320
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_61.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00736421 -0.03083452 -0.00069867
+v 0.00867257 -0.03083453 0.00387623
+v 0.00782742 -0.03041923 -0.00069867
+v 0.01629198 -0.03083452 -0.00069867
+v 0.00879930 -0.03083454 0.00415751
+v 0.01629286 -0.02496383 0.00438072
+v 0.01629286 -0.02479665 0.00387554
+v 0.01395145 -0.02626366 -0.00069866
+v 0.01622993 -0.02415823 -0.00067385
+v 0.01629286 -0.02411151 -0.00067385
+v 0.01629198 -0.02623602 -0.00069866
+v 0.01629286 -0.02623536 -0.00067386
+v 0.01629198 -0.03083454 0.00652963
+v 0.00930359 -0.03083454 0.00499215
+v 0.00946790 -0.03062591 0.00484123
+v 0.01629286 -0.02548640 0.00530675
+v 0.01399952 -0.02623602 -0.00069866
+v 0.01629286 -0.02623538 0.00578499
+v 0.01629198 -0.03002633 0.00653955
+v 0.01626839 -0.03083454 0.00652963
+v 0.00963657 -0.03083454 0.00527627
+v 0.01629286 -0.02554235 0.00537264
+v 0.01629286 -0.02569570 0.00548530
+v 0.01629198 -0.02624196 0.00595858
+v 0.01629198 -0.02687379 0.00613925
+v 0.01629198 -0.02697843 0.00616405
+v 0.01629198 -0.02706465 0.00617964
+v 0.01629198 -0.02856326 0.00644462
+v 0.01481582 -0.03005002 0.00646374
+v 0.01403448 -0.03083454 0.00644390
+v 0.01548879 -0.03083454 0.00650484
+v 0.01010066 -0.03083454 0.00565178
+v 0.01629286 -0.02557591 0.00540736
+v 0.01629111 -0.02623538 0.00595291
+v 0.01568369 -0.02653023 0.00583884
+v 0.01042229 -0.03083454 0.00585654
+v 0.01096853 -0.03065552 0.00598974
+v 0.01086103 -0.03083454 0.00602234
+v 0.01121762 -0.03083454 0.00610027
+v 0.01258191 -0.03083454 0.00632842
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+f 1 4 13
+f 1 13 20
+f 1 20 31
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+f 24 38 25
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+f 25 39 26
+f 26 39 40
+f 26 40 27
+f 27 40 28
+f 28 40 29
+f 29 40 30
+f 32 36 35
+f 32 35 33
+f 33 35 34
+f 36 38 37
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_62.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..497769eb9daf546bb50be31352acd8d39a3dd7de
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_62.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01481508 -0.03005033 -0.00796573
+v 0.01481508 -0.02858741 -0.00796359
+v 0.01626905 -0.02858741 -0.00796502
+v 0.01626905 -0.03005033 -0.00795933
+v 0.01481508 -0.03083515 -0.00795861
+v 0.01336199 -0.03083515 -0.00796288
+v 0.01336199 -0.03005033 -0.00796359
+v 0.01190890 -0.03005033 -0.00795933
+v 0.01336199 -0.02858741 -0.00795648
+v 0.01629198 -0.02712494 -0.00795860
+v 0.01629198 -0.02858741 -0.00796431
+v 0.01629198 -0.02861127 -0.00796431
+v 0.01629198 -0.03005033 -0.00795861
+v 0.01626905 -0.03083515 -0.00793158
+v 0.01190890 -0.03083515 -0.00796075
+v 0.01045582 -0.03083515 -0.00795506
+v 0.01045582 -0.03005033 -0.00794866
+v 0.01190890 -0.02858741 -0.00794012
+v 0.01481508 -0.02712494 -0.00794722
+v 0.01629198 -0.02623566 -0.00793940
+v 0.01626905 -0.02623566 -0.00793940
+v 0.01628140 -0.03083515 -0.00793087
+v 0.01629198 -0.03083515 -0.00793016
+v 0.00900273 -0.03083515 -0.00793799
+v 0.00900273 -0.03005033 -0.00792020
+v 0.01336199 -0.02712494 -0.00792375
+v 0.01045582 -0.02858741 -0.00791024
+v 0.00728600 -0.02623566 -0.00777721
+v 0.01629198 -0.02623569 -0.00069937
+v 0.01629198 -0.03083518 -0.00069938
+v 0.00754964 -0.03083515 -0.00789175
+v 0.00728600 -0.03083515 -0.00787183
+v 0.00728600 -0.02623568 -0.00234328
+v 0.01400036 -0.02623569 -0.00069937
+v 0.01007226 -0.03083518 -0.00069938
+v 0.00728600 -0.03083517 -0.00148114
+v 0.00728600 -0.03083472 -0.00084094
+v 0.00736448 -0.03083472 -0.00069938
+v 0.00782738 -0.03041958 -0.00069938
+v 0.00897892 -0.02623568 -0.00185459
+v 0.01395099 -0.02626315 -0.00069937
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+f 1 3 4
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+f 1 7 2
+f 2 7 8
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+f 29 34 41
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+f 29 35 30
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 34 40 41
+f 35 38 36
+f 36 38 37
+f 39 41 40
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_63.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ee2baa0c6d5000cf40b4ea9455edb1430e925e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_63.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01316365 -0.02623523 -0.00146920
+v 0.01316365 -0.02262820 -0.00174359
+v 0.01214285 -0.02262821 0.00094953
+v 0.01205941 -0.02262821 0.00102107
+v 0.01120030 -0.02494427 0.00047127
+v 0.01045570 -0.02509504 0.00063003
+v 0.00900276 -0.02522817 0.00081820
+v 0.00897917 -0.02623523 -0.00185436
+v 0.01316365 -0.02623521 -0.00786488
+v 0.01316365 -0.02262818 -0.00762182
+v 0.01188793 -0.02262821 0.00109948
+v 0.01056101 -0.02262822 0.00151109
+v 0.00900276 -0.02419957 0.00136996
+v 0.00728512 -0.02373981 0.00196679
+v 0.00728512 -0.02437259 0.00146796
+v 0.00728512 -0.02506821 0.00077312
+v 0.00728512 -0.02623523 -0.00234339
+v 0.00811891 -0.02623521 -0.00778942
+v 0.00728512 -0.02419953 -0.00784723
+v 0.00728512 -0.02273694 -0.00789329
+v 0.00754924 -0.02262818 -0.00789132
+v 0.00900276 -0.02262818 -0.00785310
+v 0.01316365 -0.02564587 -0.00782959
+v 0.01048160 -0.02262818 -0.00777862
+v 0.01054662 -0.02262822 0.00151501
+v 0.00826161 -0.02343932 0.00182175
+v 0.00729260 -0.02373734 0.00196581
+v 0.00953503 -0.02262822 0.00176492
+v 0.00788241 -0.02262822 0.00203639
+v 0.00728512 -0.02283338 0.00209813
+v 0.00728512 -0.02623521 -0.00777668
+v 0.00728512 -0.02262818 -0.00788937
+v 0.00728512 -0.02262822 0.00211871
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 17
+f 1 17 31
+f 1 31 18
+f 1 18 9
+f 1 9 23
+f 1 23 10
+f 1 10 2
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+f 2 24 22
+f 2 22 21
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+f 2 12 11
+f 2 11 4
+f 2 4 3
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+f 5 12 6
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+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 9 18 19
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+f 10 23 24
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+f 14 33 32
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+f 14 20 19
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+f 14 31 17
+f 14 17 16
+f 14 16 15
+f 18 31 19
+f 20 32 21
+f 22 24 23
+f 25 28 26
+f 26 28 27
+f 29 33 30
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_64.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2efb2487c0658f868c8302411cc75ce24640e643
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_64.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00094133 -0.02564777 0.00344971
+v 0.00018349 -0.02555458 0.00343837
+v 0.00028222 -0.02689060 0.00341065
+v 0.00094133 -0.02640295 0.00343290
+v 0.00094133 -0.02505889 0.00342829
+v 0.00060214 -0.02474156 0.00331239
+v -0.00208706 -0.02262787 0.00228065
+v -0.00086639 -0.02596993 0.00333422
+v -0.00195690 -0.02791249 0.00321538
+v -0.00151779 -0.02791249 0.00321538
+v -0.00054914 -0.02783537 0.00315491
+v 0.00094133 -0.02671144 0.00336949
+v 0.00094133 -0.02468131 0.00334389
+v 0.00094133 -0.02270981 0.00218743
+v 0.00094133 -0.02262787 0.00213914
+v -0.00208706 -0.02262786 -0.00084023
+v -0.00208706 -0.02681106 0.00306421
+v -0.00183533 -0.02663030 0.00316793
+v -0.00195690 -0.02760400 0.00321538
+v -0.00208706 -0.02749152 0.00313896
+v -0.00208706 -0.02804345 0.00311334
+v -0.00208706 -0.02932162 0.00228104
+v 0.00094133 -0.02692675 0.00307303
+v -0.00208706 -0.02961325 0.00200599
+v -0.00208706 -0.02998682 0.00151258
+v -0.00208706 -0.03083518 0.00034771
+v 0.00094133 -0.02262786 -0.00084023
+v -0.00208706 -0.03083518 -0.00084026
+v 0.00094133 -0.02704244 0.00256030
+v -0.00206749 -0.03083518 0.00032881
+v -0.00139682 -0.03083518 -0.00032291
+v -0.00103658 -0.03083518 -0.00084026
+v 0.00094133 -0.02649773 -0.00084025
+v 0.00094133 -0.02712117 0.00170995
+v 0.00071273 -0.02711714 -0.00084025
+v 0.00094133 -0.02687773 -0.00016921
+v 0.00094133 -0.02696048 0.00019571
+v 0.00094133 -0.02710188 0.00114306
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 23
+f 1 23 29
+f 1 29 34
+f 1 34 38
+f 1 38 37
+f 1 37 36
+f 1 36 33
+f 1 33 27
+f 1 27 15
+f 1 15 14
+f 1 14 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 27
+f 7 27 16
+f 7 16 28
+f 7 28 26
+f 7 26 25
+f 7 25 24
+f 7 24 22
+f 7 22 21
+f 7 21 20
+f 7 20 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 11
+f 11 23 12
+f 11 22 24
+f 11 24 25
+f 11 25 26
+f 11 26 23
+f 16 27 33
+f 16 33 35
+f 16 35 32
+f 16 32 28
+f 17 20 19
+f 17 19 18
+f 23 26 30
+f 23 30 31
+f 23 31 32
+f 23 32 29
+f 26 28 32
+f 26 32 31
+f 26 31 30
+f 29 32 34
+f 32 35 36
+f 32 36 37
+f 32 37 38
+f 32 38 34
+f 33 36 35
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_65.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a57e9ffdb6d96491d1ce94b7803e7c0d3594e488
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_65.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01619833 -0.01718109 -0.00021468
+v -0.01573187 -0.02208303 -0.00021470
+v -0.01839757 -0.01773632 0.00189460
+v -0.01839757 -0.01718110 0.00185367
+v -0.00909131 -0.01718109 -0.00021468
+v -0.01583209 -0.02208303 0.00037796
+v -0.01825910 -0.01936742 0.00250963
+v -0.01839757 -0.01916731 0.00250582
+v -0.01839757 -0.01879925 0.00214594
+v -0.01839757 -0.01840143 0.00204265
+v -0.01839757 -0.01786061 0.00192221
+v -0.00909131 -0.02208303 -0.00021470
+v -0.01839757 -0.01718111 0.00464845
+v -0.00909131 -0.01718110 0.00310421
+v -0.01552689 -0.02208304 0.00174988
+v -0.01834656 -0.01942261 0.00358070
+v -0.01839757 -0.01932087 0.00363164
+v -0.00909131 -0.02208303 0.00004569
+v -0.01839757 -0.01782175 0.00460560
+v -0.01770883 -0.01782223 0.00459750
+v -0.01762501 -0.01718111 0.00461656
+v -0.00909131 -0.01740952 0.00323178
+v -0.01519709 -0.02208304 0.00205835
+v -0.01715765 -0.01970094 0.00372922
+v -0.01424506 -0.02208304 0.00254247
+v -0.00909131 -0.02127061 0.00230731
+v -0.01019275 -0.02208304 0.00215546
+v -0.01276006 -0.02208304 0.00276239
+v -0.01719774 -0.01832514 0.00440138
+v -0.00909131 -0.01927433 0.00325700
+v -0.00909131 -0.01862265 0.00326985
+v -0.00909131 -0.01835152 0.00327176
+v -0.00909131 -0.01761971 0.00324225
+v -0.00909131 -0.01934391 0.00323463
+v -0.01134522 -0.02208304 0.00259531
+v -0.01069838 -0.02208304 0.00236681
+v -0.01214876 -0.02208304 0.00270146
+v -0.01270904 -0.02119719 0.00303992
+v -0.01134522 -0.02127397 0.00287902
+v -0.01134522 -0.02034733 0.00316751
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 21
+f 1 21 14
+f 1 14 5
+f 1 5 12
+f 1 12 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 12 18
+f 2 18 27
+f 2 27 36
+f 2 36 35
+f 2 35 37
+f 2 37 28
+f 2 28 25
+f 2 25 23
+f 2 23 15
+f 2 15 6
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 17
+f 3 17 19
+f 3 19 13
+f 3 13 4
+f 5 14 22
+f 5 22 33
+f 5 33 32
+f 5 32 31
+f 5 31 30
+f 5 30 34
+f 5 34 26
+f 5 26 18
+f 5 18 12
+f 6 15 16
+f 6 16 7
+f 7 16 8
+f 8 16 17
+f 13 19 20
+f 13 20 21
+f 14 21 22
+f 15 23 16
+f 16 24 19
+f 16 19 17
+f 16 23 25
+f 16 25 24
+f 18 26 27
+f 19 24 28
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 24 25 28
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 30 40 39
+f 30 39 34
+f 34 39 35
+f 35 39 37
+f 37 39 38
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_66.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa26e349d67d3daa81e0547600778e9edda58ee4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_66.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00675486 -0.01329813 0.00401360
+v 0.00675486 -0.01253340 0.00384923
+v 0.00405757 -0.01148676 0.00325236
+v 0.00405757 -0.01253939 0.00337126
+v 0.00609559 -0.01396090 0.00387487
+v 0.00609559 -0.01542289 0.00383173
+v 0.00675486 -0.01476012 0.00394132
+v 0.00675486 -0.01180615 0.00363007
+v 0.00405757 -0.01062756 0.00296558
+v 0.00405757 -0.01393841 0.00335844
+v 0.00405757 -0.02262787 0.00251672
+v 0.00475064 -0.02262787 0.00251206
+v 0.00620384 -0.02262787 0.00232670
+v 0.00675486 -0.02262787 0.00222062
+v 0.00675486 -0.01133382 0.00346570
+v 0.00405757 -0.00957343 0.00247829
+v 0.00405757 -0.02262783 -0.00787144
+v 0.00675486 -0.02262783 -0.00789243
+v 0.00675486 -0.01095895 0.00321739
+v 0.00405757 -0.00872473 0.00197702
+v 0.00675486 -0.02127380 -0.00786911
+v 0.00609559 -0.02262783 -0.00789592
+v 0.00405757 -0.00731068 -0.00716261
+v 0.00464239 -0.00731068 -0.00717893
+v 0.00675486 -0.01054359 0.00290963
+v 0.00675486 -0.00731071 -0.00072057
+v 0.00405757 -0.00731071 -0.00032654
+v 0.00609559 -0.00731068 -0.00719991
+v 0.00675486 -0.00731068 -0.00719525
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 18
+f 1 18 21
+f 1 21 29
+f 1 29 26
+f 1 26 25
+f 1 25 19
+f 1 19 15
+f 1 15 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 16
+f 3 16 20
+f 3 20 27
+f 3 27 23
+f 3 23 17
+f 3 17 11
+f 3 11 10
+f 3 10 4
+f 4 10 5
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 11 17 22
+f 11 22 18
+f 11 18 14
+f 11 14 13
+f 11 13 12
+f 15 19 20
+f 15 20 16
+f 17 21 22
+f 17 23 24
+f 17 24 21
+f 18 22 21
+f 19 25 20
+f 20 26 27
+f 20 25 26
+f 21 28 29
+f 21 24 28
+f 23 27 26
+f 23 26 29
+f 23 29 28
+f 23 28 24
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_67.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b62c221f5739aea92d0152f511ae324acddd07d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_67.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01629286 -0.01395805 0.00218884
+v 0.01629286 -0.01393668 0.00218432
+v 0.01052647 -0.01119476 0.00376216
+v 0.00951375 -0.01119476 0.00402212
+v 0.00951375 -0.01206121 0.00394187
+v 0.00951375 -0.01249809 0.00376328
+v 0.00951375 -0.01316085 0.00348637
+v 0.01626897 -0.01395805 0.00219223
+v 0.01629286 -0.01395801 -0.00752455
+v 0.01629286 -0.01286545 0.00192436
+v 0.01054306 -0.01119476 0.00375425
+v 0.01626897 -0.01212857 0.00168363
+v 0.01629286 -0.01211477 0.00166328
+v 0.00951375 -0.01119472 -0.00704984
+v 0.00951375 -0.01343055 0.00330779
+v 0.01481559 -0.01395805 0.00216624
+v 0.00951375 -0.01366833 0.00286134
+v 0.00951375 -0.01395801 -0.00715835
+v 0.01629286 -0.01119472 -0.00685656
+v 0.01629286 -0.01213506 0.00167572
+v 0.01056098 -0.01119476 0.00374408
+v 0.01629286 -0.01135895 0.00099530
+v 0.01626897 -0.01135570 0.00099982
+v 0.01389578 -0.01395805 0.00195488
+v 0.00951375 -0.01373894 0.00250983
+v 0.00951375 -0.01395804 0.00002441
+v 0.01629286 -0.01119474 -0.00165966
+v 0.01135204 -0.01119476 0.00316426
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 16
+f 1 16 24
+f 1 24 26
+f 1 26 18
+f 1 18 9
+f 1 9 19
+f 1 19 27
+f 1 27 22
+f 1 22 13
+f 1 13 20
+f 1 20 10
+f 1 10 2
+f 2 10 3
+f 3 11 21
+f 3 21 28
+f 3 28 27
+f 3 27 19
+f 3 19 14
+f 3 14 4
+f 3 10 12
+f 3 12 13
+f 3 13 11
+f 4 14 18
+f 4 18 26
+f 4 26 25
+f 4 25 17
+f 4 17 15
+f 4 15 7
+f 4 7 6
+f 4 6 5
+f 7 15 8
+f 8 15 17
+f 8 17 16
+f 9 18 14
+f 9 14 19
+f 10 20 12
+f 11 13 22
+f 11 22 23
+f 11 23 21
+f 12 20 13
+f 16 17 25
+f 16 25 24
+f 21 23 28
+f 22 27 23
+f 23 27 28
+f 24 25 26
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_68.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e843de59a4551fd40cd3fe09a313d59a75bb566a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_68.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00754918 -0.01249892 0.00418037
+v 0.00754918 -0.01396090 0.00407283
+v 0.00900227 -0.01103543 0.00416738
+v 0.00748573 -0.01097694 0.00369231
+v 0.00675486 -0.01180615 0.00362968
+v 0.00675486 -0.01253340 0.00384948
+v 0.00675486 -0.01329813 0.00401256
+v 0.00675486 -0.01476012 0.00394047
+v 0.00900227 -0.01249891 0.00403265
+v 0.00675486 -0.02262787 0.00221979
+v 0.00951282 -0.02207007 0.00194444
+v 0.00951282 -0.02132033 0.00211461
+v 0.00951282 -0.01206256 0.00394166
+v 0.00951282 -0.01107291 0.00403266
+v 0.00951282 -0.01052260 0.00407757
+v 0.00951282 -0.00907561 0.00355169
+v 0.00899822 -0.00953145 0.00361313
+v 0.00675486 -0.01133382 0.00346541
+v 0.00792797 -0.00999029 0.00341696
+v 0.00675486 -0.02262783 -0.00789141
+v 0.00788262 -0.02262787 0.00203662
+v 0.00951282 -0.02262787 0.00176717
+v 0.00951282 -0.00863776 0.00332479
+v 0.00947988 -0.00865425 0.00332125
+v 0.00675486 -0.01095895 0.00321724
+v 0.00695898 -0.01045062 0.00301161
+v 0.00851115 -0.00901563 0.00290881
+v 0.00754918 -0.02262783 -0.00789141
+v 0.00675486 -0.02127380 -0.00786895
+v 0.00754918 -0.02127380 -0.00789141
+v 0.00900227 -0.02127380 -0.00789259
+v 0.00951282 -0.02262783 -0.00782759
+v 0.00951282 -0.00860627 0.00329643
+v 0.00675486 -0.01054359 0.00290998
+v 0.00675486 -0.00731071 -0.00072040
+v 0.00951282 -0.00782504 0.00241365
+v 0.00900227 -0.02262783 -0.00785359
+v 0.00900227 -0.01981031 -0.00787603
+v 0.00675486 -0.00731068 -0.00719530
+v 0.00951282 -0.01981031 -0.00787840
+v 0.00951282 -0.02127380 -0.00787368
+v 0.00951282 -0.00756263 0.00204612
+v 0.00951282 -0.00731071 0.00004893
+v 0.00951282 -0.01837532 -0.00780158
+v 0.00754918 -0.00731068 -0.00719766
+v 0.00951282 -0.00731068 -0.00715630
+v 0.00900227 -0.00731068 -0.00717284
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 11
+f 2 11 12
+f 2 12 9
+f 3 9 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 18 5
+f 4 17 19
+f 4 19 18
+f 5 18 25
+f 5 25 34
+f 5 34 35
+f 5 35 39
+f 5 39 29
+f 5 29 20
+f 5 20 10
+f 5 10 8
+f 5 8 7
+f 5 7 6
+f 9 12 13
+f 10 20 28
+f 10 28 37
+f 10 37 32
+f 10 32 22
+f 10 22 21
+f 10 21 11
+f 11 21 22
+f 11 22 32
+f 11 32 41
+f 11 41 40
+f 11 40 44
+f 11 44 46
+f 11 46 43
+f 11 43 42
+f 11 42 36
+f 11 36 33
+f 11 33 23
+f 11 23 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 16 23 17
+f 17 23 24
+f 17 24 19
+f 18 19 25
+f 19 26 25
+f 19 24 27
+f 19 27 26
+f 20 29 30
+f 20 30 31
+f 20 31 28
+f 23 33 24
+f 24 33 27
+f 25 26 34
+f 26 27 35
+f 26 35 34
+f 27 33 36
+f 27 36 35
+f 28 31 37
+f 29 38 30
+f 29 39 38
+f 30 38 40
+f 30 40 31
+f 31 40 41
+f 31 41 37
+f 32 37 41
+f 35 36 42
+f 35 42 43
+f 35 43 46
+f 35 46 47
+f 35 47 45
+f 35 45 39
+f 38 44 40
+f 38 39 44
+f 39 45 44
+f 44 45 47
+f 44 47 46
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_69.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec16f857280f2df86d7437aaeced4c87d75f8a88
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_69.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.02127519 0.02551416 -0.00026476
+v 0.02127519 0.01964633 -0.00122239
+v 0.02127519 0.02551416 -0.00028850
+v 0.02126442 0.02551416 -0.00028850
+v 0.01516740 0.02551359 -0.00139074
+v 0.01516740 0.02260725 -0.00139075
+v 0.01516740 0.01964634 -0.00139151
+v 0.02127519 0.01964636 -0.00754509
+v 0.02127519 0.02551361 -0.00784177
+v 0.02083452 0.02551361 -0.00780246
+v 0.02078489 0.02551361 -0.00779504
+v 0.01516740 0.02551360 -0.00660527
+v 0.01516740 0.01964635 -0.00659861
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 7
+f 5 7 6
+f 8 13 11
+f 8 11 10
+f 8 10 9
+f 11 13 12
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_7.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6827547f7d0fe5f92f2241c927854fb41e800445
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_7.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.02666014 0.00116435 0.00251004
+v 0.02664814 0.00116435 0.00204542
+v 0.02664214 0.00116435 0.00341113
+v 0.02927581 -0.00810872 0.00387647
+v 0.02927821 -0.00810872 0.00251001
+v 0.02662173 0.00116436 0.00114358
+v 0.02663253 0.00116435 0.00387650
+v 0.02876564 -0.00693803 0.00485759
+v 0.02962873 -0.00957239 0.00387646
+v 0.02963113 -0.00957239 0.00251000
+v 0.02957591 -0.00957238 0.00114354
+v 0.02922179 -0.00810871 0.00114355
+v 0.02657492 0.00116436 -0.00022362
+v 0.02660613 0.00116436 0.00067821
+v 0.02636364 0.00116434 0.00477833
+v 0.02887728 -0.00823920 0.00528517
+v 0.02917618 -0.00957240 0.00524366
+v 0.02621840 0.00116434 0.00524370
+v 0.02593990 0.00116434 0.00572315
+v 0.02987481 -0.01095303 0.00387646
+v 0.02987721 -0.01095303 0.00251000
+v 0.02982319 -0.01095302 0.00114354
+v 0.02949548 -0.00957238 -0.00022366
+v 0.02974637 -0.01095302 -0.00022366
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+v 0.02062934 0.00066617 0.00631671
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+f 1 19 18
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+f 39 46 47
+f 40 48 41
+f 41 48 49
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 42 44 43
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+f 42 56 57
+f 43 45 58
+f 43 58 56
+f 46 59 60
+f 46 60 52
+f 46 52 47
+f 47 52 61
+f 50 61 52
+f 50 52 51
+f 52 60 62
+f 52 62 53
+f 53 62 63
+f 53 63 54
+f 54 63 64
+f 54 64 65
+f 54 65 55
+f 55 65 66
+f 56 58 67
+f 56 67 57
+f 57 67 68
+f 57 68 69
+f 57 69 70
+f 58 71 67
+f 59 72 73
+f 59 73 63
+f 59 63 62
+f 59 62 60
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+f 63 72 64
+f 64 72 74
+f 64 74 75
+f 64 75 65
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+f 66 75 76
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+f 68 77 69
+f 69 77 70
+f 70 77 75
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+f 75 77 76
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_70.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df082da441e0a36f9e713f6ead8b7dbec8bf3a75
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_70.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00208735 -0.01753426 -0.00759579
+v -0.00208735 -0.00731018 -0.00694982
+v -0.00117067 -0.00731018 -0.00698611
+v 0.00173518 -0.00731018 -0.00709861
+v 0.00318900 -0.00731018 -0.00714457
+v 0.00405757 -0.00731018 -0.00716272
+v -0.00117067 -0.01753426 -0.00758370
+v -0.00208735 -0.01753430 0.00264121
+v -0.00208735 -0.00731023 0.00465042
+v 0.00405757 -0.01753426 -0.00742524
+v 0.00028256 -0.01753426 -0.00754136
+v 0.00405757 -0.00731021 -0.00032595
+v -0.00181487 -0.01753430 0.00264242
+v 0.00028256 -0.01510915 0.00333191
+v -0.00117067 -0.01507912 0.00332586
+v -0.00208735 -0.01396013 0.00361134
+v -0.00208735 -0.01249783 0.00392221
+v 0.00028256 -0.00731023 0.00476170
+v 0.00405757 -0.01753430 0.00236905
+v 0.00288404 -0.00731022 0.00371176
+v 0.00405757 -0.00872448 0.00197716
+v 0.00173518 -0.01498204 0.00330408
+v 0.00028256 -0.01396013 0.00360529
+v -0.00117067 -0.01396013 0.00362585
+v 0.00152105 -0.00731023 0.00474356
+v 0.00083473 -0.00731023 0.00476049
+v 0.00405757 -0.01393711 0.00335853
+v 0.00236555 -0.00731023 0.00437463
+v 0.00405757 -0.01148693 0.00325209
+v 0.00405757 -0.01062717 0.00296541
+v 0.00405757 -0.01003064 0.00268962
+v 0.00405757 -0.00957323 0.00247793
+v 0.00173518 -0.01396013 0.00354239
+v 0.00405757 -0.01253787 0.00337183
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 10
+f 1 10 19
+f 1 19 13
+f 1 13 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 2
+f 2 9 18
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+f 2 28 20
+f 2 20 12
+f 2 12 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
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+f 6 11 7
+f 6 12 21
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+f 6 31 30
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+f 6 19 10
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+f 8 15 16
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+f 14 19 22
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+f 17 26 18
+f 17 24 23
+f 17 23 25
+f 19 27 22
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+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 22 27 33
+f 22 33 23
+f 23 33 25
+f 25 33 27
+f 25 27 28
+f 27 34 28
+f 28 34 29
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_71.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb4ec39473e33d1b2d96248d1da52ca8cf477726
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_71.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01932746 -0.00239204 0.00455489
+v -0.01932746 -0.00237902 0.00530539
+v -0.01932746 -0.00226524 0.00399328
+v -0.01693896 -0.00461823 0.00376388
+v -0.01700646 -0.00461824 0.00509351
+v -0.01932746 -0.00203940 0.00567032
+v -0.01932746 -0.00079638 0.00363460
+v -0.01583431 -0.00461823 0.00286227
+v -0.01640502 -0.00461823 0.00321785
+v -0.01645576 -0.00461823 0.00325719
+v -0.01570490 -0.00461824 0.00557762
+v -0.01932746 -0.00171054 0.00601188
+v -0.01457186 -0.00193581 0.00231897
+v -0.01457186 -0.00461823 0.00232987
+v -0.01490377 -0.00461823 0.00245878
+v -0.01932746 0.00009568 0.00369068
+v -0.01570490 -0.00079638 0.00263523
+v -0.01514257 -0.00461824 0.00557645
+v -0.01861105 -0.00079639 0.00625141
+v -0.01861105 -0.00187412 0.00604732
+v -0.01932746 -0.00145356 0.00606017
+v -0.01457186 -0.00079638 0.00235326
+v -0.01457186 -0.00461824 0.00557489
+v -0.01932746 0.00066624 0.00375533
+v -0.01570490 0.00116435 0.00280582
+v -0.01932746 -0.00079639 0.00615327
+v -0.01457186 -0.00404372 0.00564384
+v -0.01457186 -0.00372108 0.00568239
+v -0.01715775 0.00116434 0.00624830
+v -0.01811669 0.00116434 0.00629737
+v -0.01861105 0.00066623 0.00627517
+v -0.01932746 -0.00025074 0.00616222
+v -0.01457186 -0.00047375 0.00238208
+v -0.01932746 0.00095492 0.00382349
+v -0.01474596 0.00116435 0.00258888
+v -0.01932746 0.00116435 0.00387295
+v -0.01457186 -0.00225336 0.00573536
+v -0.01658378 0.00116434 0.00616612
+v -0.01864876 0.00116434 0.00623505
+v -0.01932746 0.00084680 0.00613379
+v -0.01932746 0.00066623 0.00614587
+v -0.01457186 0.00098888 0.00253514
+v -0.01457186 0.00116435 0.00255461
+v -0.01932746 0.00116434 0.00611237
+v -0.01457186 0.00116434 0.00579885
+v -0.01483255 0.00116434 0.00584909
+v -0.01588133 0.00116434 0.00603993
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+f 1 26 32
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+f 1 40 44
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+f 1 7 3
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+f 13 23 14
+f 16 24 25
+f 16 25 17
+f 17 25 22
+f 18 23 19
+f 19 26 21
+f 19 23 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 26
+f 22 25 33
+f 24 34 25
+f 25 35 33
+f 25 34 36
+f 25 36 44
+f 25 44 39
+f 25 39 30
+f 25 30 29
+f 25 29 38
+f 25 38 47
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+f 25 46 45
+f 25 45 43
+f 25 43 35
+f 28 37 38
+f 28 38 29
+f 30 39 31
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+f 31 40 41
+f 31 41 32
+f 33 35 42
+f 35 43 42
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 39 44 40
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_72.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e6508f85614247c6284fec640242e0d319c36df
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_72.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00094162 -0.02649746 -0.00084025
+v 0.00094162 -0.02687796 -0.00016934
+v 0.00094162 -0.02262786 -0.00084023
+v 0.00728512 -0.02465746 -0.00084024
+v 0.00094162 -0.02696066 0.00019581
+v 0.00728512 -0.02505379 0.00020635
+v 0.00094162 -0.02262787 0.00213906
+v 0.00728512 -0.02262786 -0.00084023
+v 0.00094162 -0.02710186 0.00114300
+v 0.00728512 -0.02506786 0.00077407
+v 0.00094162 -0.02712166 0.00170988
+v 0.00094162 -0.02468122 0.00334399
+v 0.00173580 -0.02454046 0.00341770
+v 0.00147687 -0.02262787 0.00223509
+v 0.00728512 -0.02262787 0.00211843
+v 0.00728512 -0.02437243 0.00146814
+v 0.00402644 -0.02502169 0.00325386
+v 0.00138497 -0.02658941 0.00334188
+v 0.00094162 -0.02692724 0.00307275
+v 0.00094162 -0.02704248 0.00256020
+v 0.00094162 -0.02505864 0.00342822
+v 0.00162652 -0.02262787 0.00226162
+v 0.00094162 -0.02564719 0.00344970
+v 0.00181590 -0.02575496 0.00346234
+v 0.00318942 -0.02450703 0.00337389
+v 0.00318942 -0.02377595 0.00306687
+v 0.00329746 -0.02262787 0.00252653
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+v 0.00620345 -0.02262787 0.00232690
+v 0.00402644 -0.02469706 0.00325386
+v 0.00728512 -0.02265426 0.00211590
+v 0.00728512 -0.02373988 0.00196722
+v 0.00318942 -0.02529749 0.00337389
+v 0.00728512 -0.02283329 0.00209863
+v 0.00094162 -0.02671038 0.00336967
+v 0.00094162 -0.02640246 0.00343285
+v 0.00475045 -0.02262787 0.00251263
+f 1 2 5
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+f 1 20 19
+f 1 19 35
+f 1 35 36
+f 1 36 23
+f 1 23 21
+f 1 21 12
+f 1 12 7
+f 1 7 3
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+f 1 4 2
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+f 2 6 5
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+f 4 16 10
+f 4 10 6
+f 5 6 9
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+f 10 20 11
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+f 13 28 22
+f 15 29 25
+f 15 25 30
+f 15 30 17
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+f 16 32 17
+f 17 30 25
+f 17 25 33
+f 17 33 18
+f 17 32 34
+f 17 34 31
+f 18 24 35
+f 18 35 19
+f 18 33 24
+f 23 36 24
+f 24 36 35
+f 24 33 25
+f 25 29 37
+f 25 37 26
+f 26 37 27
+
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_73.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e54f1682eb5eaef7e44f7b2bbddd098f5ef1aa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_73.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.01701026 0.01964629 0.00250946
+v 0.01747684 0.01956270 0.00125463
+v 0.01747684 0.01821808 0.00087209
+v 0.01747684 0.01683523 0.00085839
+v 0.01747684 0.01387769 0.00108844
+v 0.01747684 0.01387768 0.00368975
+v 0.01747684 0.01504637 0.00372208
+v 0.01747684 0.01650882 0.00368976
+v 0.01715067 0.01964629 0.00282850
+v 0.01733556 0.02006663 0.00250946
+v 0.01803457 0.02084523 0.00150256
+v 0.01771799 0.01964630 0.00112382
+v 0.01775025 0.01964630 0.00110215
+v 0.01841786 0.01900543 0.00042263
+v 0.01762772 0.01821808 0.00077931
+v 0.01835463 0.01737261 0.00037243
+v 0.01835463 0.01821808 0.00036636
+v 0.01772322 0.01387769 0.00110289
+v 0.01917617 0.01821808 0.00009942
+v 0.02146505 0.01814006 -0.00016219
+v 0.01772322 0.01387768 0.00365591
+v 0.01772322 0.01529475 0.00369470
+v 0.01772322 0.01675721 0.00367455
+v 0.01772322 0.01821807 0.00353539
+v 0.01747684 0.01799356 0.00352740
+v 0.01747684 0.01821807 0.00349508
+v 0.01747684 0.01921878 0.00332625
+v 0.01747684 0.01942258 0.00329126
+v 0.01834853 0.02049812 0.00323195
+v 0.01806247 0.02080064 0.00250947
+v 0.01913736 0.02118836 0.00111128
+v 0.01971776 0.02055704 0.00032264
+v 0.01874927 0.01998146 0.00059147
+v 0.01774197 0.01965426 0.00111089
+v 0.01952458 0.02201073 0.00206458
+v 0.01952458 0.02201073 0.00163033
+v 0.01921105 0.01956828 0.00022072
+v 0.01912428 0.01964630 0.00029031
+v 0.01877805 0.01387768 0.00155653
+v 0.02146505 0.01581542 0.00113788
+v 0.02146505 0.01550892 0.00135082
+v 0.02146505 0.01964630 -0.00016143
+v 0.02146505 0.01841073 -0.00016258
+v 0.01776421 0.01387768 0.00364640
+v 0.02146505 0.01821807 0.00321559
+v 0.01917617 0.01821807 0.00346086
+v 0.01917617 0.01964629 0.00335287
+v 0.01917573 0.01968131 0.00334982
+v 0.01914085 0.01964629 0.00335439
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_74.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff9df29646dec9f68fda1f6d864fb88704c0be2b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_74.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_8.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33c6a37168d2286206d60ac149a3605cd70b95d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_8.obj
@@ -0,0 +1,676 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_9.obj b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32a2a1cf92e2153ced55ef631227081063e36131
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/mesh/sponge_010_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/sponge_010.xml b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/sponge_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f755beff3e746c0eb82ff1a96439a985fe8bce05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mjcf/sponge_010.xml
@@ -0,0 +1,164 @@
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+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" 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/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.urdf b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5586309e653c29a967fbcaa981cad9e798c00b3f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_010">
+   <link name="sponge_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_010.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/sponge_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>dcb851b9a0c95cc98da8cb843fa9dd1f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>green sponge</name>
+         <color>green</color>
+         <shape>irregular</shape>
+         <material>silicone</material>
+         <description>soft green sponge with wavy texture and irregular shape</description>
+         <min_height>0.0151</min_height>
+         <max_height>0.0151</max_height>
+         <real_height>0.0151</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230227</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.usd b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..44a45a969a08ce3e84cf94864243fdd0bb28a3bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9bfef8c43b9c9f906fead4dfbde7e42816509702bba2f5055e76288bf680a75
+size 4983261
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/textures/material_0.png b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59963d0b285c30cfe78d21be1e75a29177e480f0fd77fac0828749ad383f33e7
+size 9525641
diff --git a/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/video.mp4 b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93649053f017a917ae76ba9a602c6fc95ef3f6da01cbe23fe34d0c43726f63f4
+size 216059