diff --git a/.gitattributes b/.gitattributes
index fec12bb389039d998d59f48c7e43387453483e70..16d751b211337c738737879ec04533761d0fa5be 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5217,3 +5217,5 @@ dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/hand_sa
 dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/mesh/hand_sanitizer_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/mesh/hand_sanitizer_023.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/mjcf/mesh/hand_sanitizer_023.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/sponge_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..68573307ddf68383c3a4f97b839b72d1d18983a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_034_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..50cecedbeca74839dc06f26fdbced863a401c32c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e07d758b8cfcfd68a8d0dd7fbfae3448c2504f7941950cb1e2b5fc075948d405
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.glb b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c6e25898ce8e6689b0556ad6fb0a60c8c2dc8f6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 26621748
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.mtl b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..41ff471cb8fa4463a78bab20a24b41c15add9db3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_034_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34bba05b6435145a662fdfb95b7e7748df6f82f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.obj
@@ -0,0 +1,122448 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_034_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034_collision.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc564460f8550e66e9be83ed629fe9948bd4e87c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034_collision.obj
@@ -0,0 +1,12422 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..50cecedbeca74839dc06f26fdbced863a401c32c
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..50cecedbeca74839dc06f26fdbced863a401c32c
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6d8459c07c226142bc21c759d9e03b28bacd6c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision.obj
@@ -0,0 +1,12422 @@
+# https://github.com/mikedh/trimesh
+
+o sponge_034_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_0.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..954f2d94f687b75c9cb2ee3fa8e33c56edcba2a7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_0.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_1.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..985e391bcd9a98a5aacbe2f9a3dc4b56fd92f3b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_1.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_10.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbcbd6b346141ace48da68f214112152d74da06f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_10.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_11.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baca5b2501448c07af93b671697548cd3ec0ae16
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_11.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_12.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357b93fcb50985a55f6959e42d9b0596ecf936a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_12.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_13.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a394eeeb9c43fd90d4e08db86834bcbbbf3119f5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_13.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+f 17 31 28
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+f 21 34 22
+f 22 34 35
+f 25 36 37
+f 25 37 26
+f 26 38 39
+f 26 39 29
+f 26 29 27
+f 26 37 40
+f 26 40 38
+f 29 39 30
+f 32 41 33
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+f 37 43 44
+f 37 44 40
+f 40 44 48
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_14.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef83fd5d6dfbdbee9041a8a6e2661cedd9cc2f78
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.01827208 0.01206477 0.00030681
+v 0.01827208 0.02380636 0.00030686
+v 0.02444237 0.01206477 0.00030681
+v 0.01827208 0.01206473 0.01093494
+v 0.02420968 0.02380636 0.00030686
+v 0.01827208 0.02380632 0.01196436
+v 0.02445772 0.01281298 0.00030682
+v 0.02446386 0.01281298 0.00101955
+v 0.02453324 0.01404504 0.00701552
+v 0.02445711 0.01206476 0.00294665
+v 0.02152054 0.01206473 0.01155755
+v 0.01827208 0.01299454 0.01150182
+v 0.02440369 0.01774133 0.00101957
+v 0.02435273 0.01774133 0.00030684
+v 0.02434966 0.02380633 0.00701556
+v 0.02448474 0.02266964 0.00701555
+v 0.02449947 0.02143756 0.00581659
+v 0.01827208 0.02143753 0.01230827
+v 0.02264777 0.02380632 0.01222171
+v 0.02447123 0.01650923 0.00221971
+v 0.02453938 0.02020547 0.00701554
+v 0.02454368 0.01897223 0.00821449
+v 0.02454245 0.01774130 0.00821449
+v 0.02453201 0.01650921 0.00821448
+v 0.02451912 0.01527712 0.00821448
+v 0.02449763 0.01404504 0.00821447
+v 0.02444544 0.01206474 0.00814805
+v 0.02445833 0.01206474 0.00767369
+v 0.02255138 0.01206473 0.01141879
+v 0.02274293 0.01404503 0.01192875
+v 0.02274293 0.01527710 0.01225725
+v 0.02152054 0.01404503 0.01196907
+v 0.01827208 0.01405997 0.01178762
+v 0.02444974 0.01774132 0.00221972
+v 0.02434107 0.02380633 0.00821451
+v 0.02452955 0.02143755 0.00701555
+v 0.02442702 0.02143755 0.00941346
+v 0.02449824 0.02020547 0.00941345
+v 0.02451605 0.02020548 0.00581658
+v 0.01827208 0.02081919 0.01235926
+v 0.02274293 0.02380632 0.01222289
+v 0.02452342 0.01897223 0.00941345
+v 0.02450622 0.01774130 0.00941345
+v 0.02448167 0.01650921 0.00941344
+v 0.02440799 0.01650920 0.01061240
+v 0.02431467 0.01527711 0.01061240
+v 0.02409549 0.01404503 0.01061239
+v 0.02406908 0.01206474 0.00941342
+v 0.02286634 0.01206473 0.01119940
+v 0.02345021 0.01322441 0.01130970
+v 0.02361476 0.01404503 0.01147928
+v 0.02378789 0.01527711 0.01169276
+v 0.02386095 0.01650920 0.01178170
+v 0.02263181 0.01659884 0.01238414
+v 0.02212836 0.01706892 0.01241261
+v 0.01827208 0.01951700 0.01242210
+v 0.02433247 0.02380633 0.00830820
+v 0.02432879 0.02143754 0.01061242
+v 0.02443071 0.02020546 0.01061241
+v 0.01827208 0.01983536 0.01242210
+v 0.01852565 0.01980778 0.01242092
+v 0.02213634 0.01835732 0.01241143
+v 0.02276012 0.01774128 0.01238297
+v 0.02378851 0.02143754 0.01173429
+v 0.02363072 0.02380632 0.01171176
+v 0.02445220 0.01897222 0.01061241
+v 0.02443378 0.01774129 0.01061241
+v 0.02359756 0.01206473 0.01042974
+v 0.02311745 0.01206473 0.01099780
+v 0.02328997 0.01206473 0.01079382
+v 0.02386893 0.01774129 0.01178290
+v 0.02214985 0.01706892 0.01241261
+v 0.02402549 0.02380632 0.01061243
+v 0.02418390 0.02266963 0.01061242
+v 0.02385359 0.02020546 0.01172835
+v 0.02387200 0.01897222 0.01175681
+v 0.02214862 0.01774128 0.01241262
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+f 54 63 72
+f 54 72 55
+f 55 72 56
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+f 62 77 63
+f 63 77 72
+f 63 71 76
+f 63 76 64
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+f 65 74 73
+f 66 76 71
+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_15.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c82438a24b35963050a1e2274492e9399345974
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_15.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00351367 0.00837884 -0.01201932
+v 0.00929548 0.00837884 -0.01199041
+v 0.00351367 0.00837876 0.01119411
+v 0.00351367 0.00911730 -0.01213736
+v 0.00440796 0.00911730 -0.01214941
+v 0.01051793 0.00911730 -0.01216145
+v 0.01125609 0.00837884 -0.01192537
+v 0.01125609 0.00911730 -0.01215423
+v 0.00351367 0.00934676 0.01159400
+v 0.00734396 0.00837876 0.01208786
+v 0.00351367 0.01001734 -0.01213976
+v 0.00351367 0.02349984 -0.01214935
+v 0.01125609 0.01822946 -0.01215660
+v 0.00351367 0.02380640 -0.01214935
+v 0.01125609 0.00837876 0.01188550
+v 0.00351367 0.01034949 0.01196260
+v 0.00807303 0.00837876 0.01221794
+v 0.00351367 0.01068021 0.01207823
+v 0.00929548 0.02266926 -0.01215177
+v 0.01125609 0.01897245 -0.01215419
+v 0.00450270 0.02380640 -0.01214453
+v 0.00351367 0.02380632 0.01090749
+v 0.01125609 0.01109248 0.01199632
+v 0.01051793 0.00911722 0.01216976
+v 0.01051793 0.00837876 0.01211436
+v 0.00856489 0.00837875 0.01226613
+v 0.00351367 0.01184300 0.01235045
+v 0.00351367 0.01162554 0.01230468
+v 0.01051793 0.02380640 -0.01210117
+v 0.01125609 0.02380640 -0.01197108
+v 0.00685210 0.02380632 0.01172415
+v 0.00351367 0.01650783 0.01205657
+v 0.01125609 0.02020464 0.01216739
+v 0.01072937 0.02020463 0.01233362
+v 0.00978734 0.00837876 0.01220108
+v 0.01011777 0.02020463 0.01244925
+v 0.00440796 0.01307528 0.01244682
+v 0.00351367 0.01279892 0.01243719
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+v 0.00929548 0.00837876 0.01223240
+v 0.01125609 0.02380632 0.01196747
+v 0.00807303 0.02380632 0.01188556
+v 0.00351367 0.01527706 0.01224206
+v 0.00351367 0.01385451 0.01242273
+v 0.00964258 0.02097782 0.01244685
+v 0.01011095 0.02097782 0.01244685
+v 0.00953572 0.02020463 0.01244925
+v 0.00440796 0.01379259 0.01244682
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+v 0.00351367 0.01354191 0.01243960
+v 0.01042243 0.02380632 0.01195060
+v 0.00929548 0.02380632 0.01192651
+v 0.00351367 0.01371406 0.01243478
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+f 1 17 10
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+f 49 53 50
+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_16.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5818534f96fdfd291345ee67e261cc81210b4371
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_16.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01026172 -0.00332735 -0.01215709
+v -0.01238360 -0.00106748 -0.01216188
+v -0.00903926 0.00295377 -0.01219307
+v -0.00540741 -0.00332506 -0.01215949
+v -0.01014152 -0.00332735 -0.01215709
+v -0.01148418 -0.00332735 -0.01212829
+v -0.01238360 0.00172298 -0.01217147
+v -0.01238360 -0.00230055 -0.01211150
+v -0.01026172 0.00295377 -0.01218587
+v -0.01026172 0.00418570 -0.01218586
+v -0.00903926 0.00418570 -0.01219066
+v -0.00540741 0.00837884 -0.01217385
+v -0.00540741 0.00791701 -0.01217385
+v -0.00647484 -0.00332735 -0.01214989
+v -0.00891907 -0.00332735 -0.01215469
+v -0.00540741 -0.00332735 -0.01107717
+v -0.01185774 -0.00332735 -0.01204670
+v -0.01075343 0.00837884 -0.01215945
+v -0.01026172 0.00837884 -0.01216665
+v -0.01238360 0.00837884 -0.01212586
+v -0.01197589 0.00837884 -0.01213785
+v -0.01148418 0.00837884 -0.01214745
+v -0.01238360 -0.00332735 -0.01192911
+v -0.00540741 0.00837876 0.01217709
+v -0.00540741 -0.00332743 0.01183148
+v -0.01238360 0.00837876 0.01119317
+v -0.01238360 -0.00332743 0.01185308
+v -0.00732578 0.00837875 0.01229948
+v -0.01026240 -0.00332743 0.01207146
+v -0.01238360 0.00418562 0.01191790
+v -0.00854823 0.00837876 0.01218669
+v -0.01147666 -0.00332743 0.01204746
+v -0.01238360 0.00172290 0.01201389
+v -0.00781749 0.00837875 0.01232348
+v -0.01238360 0.00295369 0.01203788
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 14
+f 1 14 16
+f 1 16 25
+f 1 25 29
+f 1 29 32
+f 1 32 27
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+f 1 17 6
+f 1 6 2
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_17.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef0e2802e1536823d199a1b8eb45823bfa6948b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_17.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01006687 -0.02214571 0.01198601
+v 0.01006687 -0.02173663 0.01196669
+v 0.00837478 -0.02292308 0.01236496
+v 0.01006687 -0.02538703 0.01191600
+v 0.00809523 -0.02173664 0.01228048
+v 0.00773002 -0.02214622 0.01245668
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+v 0.00776351 -0.02292308 0.01245910
+v 0.01006687 -0.02661926 0.01185564
+v 0.00685088 -0.02173664 0.01237462
+v 0.00685088 -0.02208650 0.01246875
+v 0.01006687 -0.02248504 -0.01216587
+v 0.00440736 -0.02682074 -0.01215865
+v 0.00440736 -0.02415522 -0.01219001
+v 0.00934191 -0.02173655 -0.01218518
+v 0.00683842 -0.02296737 0.01246634
+v 0.00534490 -0.02373279 0.01246392
+v 0.00759609 -0.02361982 0.01242771
+v 0.01006687 -0.02682082 0.01183633
+v 0.00929597 -0.02661926 0.01194495
+v 0.00440736 -0.02173664 0.01233600
+v 0.00603248 -0.02217409 0.01243979
+v 0.00481384 -0.02326548 0.01246392
+v 0.00481384 -0.02373279 0.01246392
+v 0.01006687 -0.02292299 -0.01215139
+v 0.01006687 -0.02372026 -0.01199209
+v 0.01006687 -0.02405768 -0.01188106
+v 0.00542511 -0.02682074 -0.01186900
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+v 0.00211257 -0.02173663 0.01125947
+v 0.00232359 -0.02173663 0.01148153
+v 0.00230023 -0.02173663 0.01145981
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_18.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f30b67192a20c8571e10f8219ccf2552e23557
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_18.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.01270407 0.00548014 0.01242418
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_19.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd151221b1a817529f4ed155dc0840bd489fe4c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_19.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_2.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c36b683e227ac40431f531a07c1b41bf56bcaac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_2.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_20.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1af410b6068571baa3de740be2190084f7035c23
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_20.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00659460 -0.01789036 -0.01219416
+v -0.00058597 -0.01789036 -0.01217475
+v -0.00662539 -0.01789036 -0.01219174
+v -0.00662539 -0.01673009 -0.01219173
+v -0.00662539 -0.01303403 -0.01218444
+v -0.00292699 -0.00690482 -0.01216743
+v 0.00196117 -0.01789036 -0.01216504
+v -0.00662539 -0.01789044 0.01084298
+v -0.00662539 -0.00440895 -0.01216257
+v -0.00525175 -0.00332850 -0.01215770
+v -0.00402949 -0.00332850 -0.01215528
+v 0.00211257 -0.00690482 -0.01214801
+v 0.00211257 -0.01789036 -0.01216262
+v -0.00292699 -0.01789044 0.01199084
+v -0.00662539 -0.00959749 0.01236944
+v -0.00662539 -0.00332850 -0.01215042
+v -0.00537235 -0.00332850 -0.01215770
+v -0.00170559 -0.00332850 -0.01213343
+v 0.00211257 -0.00567185 -0.01213830
+v 0.00211257 -0.01789044 0.01106867
+v -0.00282435 -0.01789044 0.01200297
+v -0.00662539 -0.00912140 0.01241556
+v -0.00662539 -0.00332858 0.01160504
+v 0.00211257 -0.00332850 -0.01174758
+v 0.00211257 -0.00444031 -0.01204608
+v 0.00211257 -0.01568820 0.01218499
+v -0.00160295 -0.01789044 0.01202481
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+v -0.00305101 -0.00332859 0.01234520
+v -0.00178171 -0.00332859 0.01229667
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+v 0.00211257 -0.01246966 0.01255629
+v -0.00197416 -0.00332859 0.01231365
+v -0.00537235 -0.00497207 0.01242770
+v -0.00601811 -0.00504762 0.01241314
+v -0.00605917 -0.00567194 0.01242042
+v -0.00662539 -0.00562918 0.01235490
+f 1 2 7
+f 1 7 13
+f 1 13 20
+f 1 20 27
+f 1 27 28
+f 1 28 21
+f 1 21 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 3 8 15
+f 3 15 22
+f 3 22 36
+f 3 36 48
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_21.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de054ca985b3f94301ea9557567fd2f2db34a6e6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_21.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00414966 0.00837884 -0.01218582
+v -0.00414966 0.01897245 -0.01215444
+v 0.00196180 0.02380640 -0.01216406
+v -0.00292707 0.00837884 -0.01218100
+v -0.00414966 0.00837876 0.01218025
+v -0.00283256 0.02380640 -0.01213754
+v -0.00414966 0.02380338 -0.01205316
+v -0.00405440 0.02380640 -0.01207486
+v -0.00292632 0.02380640 -0.01213513
+v 0.00351292 0.02380640 -0.01215201
+v 0.00351217 0.00911730 -0.01213760
+v 0.00318289 0.00838035 -0.01206287
+v -0.00170523 0.00837884 -0.01213037
+v -0.00292707 0.00837876 0.01219713
+v -0.00414966 0.00838026 0.01225257
+v -0.00414966 0.02380640 -0.01203870
+v 0.00351292 0.02380632 0.01090740
+v 0.00351292 0.01791535 -0.01213274
+v 0.00351217 0.00838035 -0.01201706
+v -0.00065515 0.00837884 -0.01183143
+v 0.00321739 0.01164216 0.01234178
+v -0.00414966 0.00911570 0.01236829
+v -0.00030637 0.00837876 0.01187649
+v 0.00196105 0.00838027 0.01172943
+v 0.00123049 0.00838027 0.01181622
+v -0.00414966 0.02380632 0.01189101
+v 0.00279811 0.02380632 0.01139197
+v 0.00351217 0.01650783 0.01205733
+v 0.00351217 0.01527706 0.01224296
+v 0.00351292 0.01791527 0.01177527
+v 0.00351217 0.00838027 0.01119423
+v -0.00030637 0.00837884 -0.01153249
+v 0.00351217 0.01162705 0.01230562
+v 0.00351217 0.01184451 0.01235143
+v 0.00351217 0.01207859 0.01238518
+v 0.00283261 0.01209218 0.01242616
+v 0.00252509 0.01209218 0.01242616
+v 0.00351217 0.01280043 0.01243823
+v 0.00351217 0.01354191 0.01244305
+v -0.00414966 0.01034797 0.01237554
+v 0.00304113 0.00838027 0.01144495
+v 0.00351217 0.01068021 0.01207901
+v -0.00414966 0.02380481 0.01190789
+v -0.00414891 0.02380632 0.01190789
+v 0.00274336 0.02380632 0.01141849
+v 0.00351217 0.01385300 0.01242135
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+v 0.00351217 0.01371406 0.01243582
+v 0.00351217 0.01224772 0.01240688
+v 0.00351217 0.01034949 0.01196329
+v 0.00351217 0.00934827 0.01159442
+v -0.00292632 0.02380632 0.01221888
+v 0.00186654 0.02380632 0.01171985
+v 0.00073921 0.02143691 0.01205976
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_22.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1cebbdf4ed2db0cf6c97c72f634229590195852
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_22.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00781751 -0.01789036 -0.01219461
+v -0.01238304 -0.01789036 -0.01219219
+v -0.01238304 -0.01708644 -0.01219218
+v -0.00904005 -0.00567185 -0.01218731
+v -0.00662539 -0.01673009 -0.01219218
+v -0.00662539 -0.01789036 -0.01219219
+v -0.01238304 -0.01789044 0.01131457
+v -0.01238304 -0.01183242 -0.01218491
+v -0.01148459 -0.00690482 -0.01218490
+v -0.01148459 -0.00567185 -0.01218006
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+v -0.01014142 -0.00332850 -0.01215829
+v -0.00891943 -0.00332850 -0.01215587
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+v -0.00662539 -0.00440895 -0.01216314
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+v -0.00662539 -0.01303403 -0.01218492
+v -0.00662539 -0.01789044 0.01084081
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+v -0.01238304 -0.01772652 0.01135324
+v -0.01238304 -0.00813636 -0.01215831
+v -0.01238304 -0.00690482 -0.01213656
+v -0.01148459 -0.00332850 -0.01212929
+v -0.00662539 -0.00332850 -0.01214862
+v -0.00662539 -0.00959749 0.01236847
+v -0.00823291 -0.01157451 0.01249900
+v -0.01026204 -0.01429701 0.01200347
+v -0.01238304 -0.01643511 0.01158530
+v -0.01238304 -0.00332850 -0.01192866
+v -0.01185772 -0.00332850 -0.01204710
+v -0.00662539 -0.00332858 0.01160468
+v -0.00662539 -0.00912140 0.01241683
+v -0.00662539 -0.00861396 0.01241924
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+v -0.01067350 -0.00501198 0.01241925
+v -0.01094180 -0.00501198 0.01241925
+v -0.00904005 -0.01150039 0.01247725
+v -0.01148459 -0.01429701 0.01195997
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+v -0.00965443 -0.01123670 0.01241198
+v -0.01238304 -0.01429701 0.01185119
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+f 1 19 7
+f 1 7 2
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_23.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..284e85a50eec1600a52b580e20c2b7c42172b8b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_23.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01663086 -0.00294918 -0.01217051
+v 0.01637458 -0.00294918 -0.01216807
+v 0.01540869 -0.00074146 -0.01218510
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+v 0.01950389 -0.00294918 -0.01214374
+v 0.01540869 -0.00294918 -0.01215834
+v 0.01418652 0.00172241 -0.01217779
+v 0.01663086 -0.00074146 -0.01218997
+v 0.01270407 0.00172241 -0.01216319
+v 0.01950389 0.00005803 -0.01216806
+v 0.01950389 -0.00294926 0.01157453
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+v 0.01519701 -0.00294918 -0.01209506
+v 0.01270407 0.00049048 -0.01211939
+v 0.01663086 0.00418628 -0.01217048
+v 0.01663086 0.00541821 -0.01216318
+v 0.01950389 0.00049048 -0.01217050
+v 0.01270407 0.00837884 -0.01194901
+v 0.01356944 0.00837884 -0.01201228
+v 0.01491742 0.00837884 -0.01208286
+v 0.01950389 0.00664783 0.01230708
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+v 0.01785303 -0.00294926 0.01176192
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+v 0.01270407 -0.00051636 -0.01183222
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+v 0.01950389 0.00665014 -0.01210720
+v 0.01270407 0.00837876 0.01145045
+v 0.01950389 0.00837884 -0.01188330
+v 0.01950389 0.00825354 -0.01190033
+v 0.01950389 0.00786212 -0.01195144
+v 0.01853201 0.00728875 0.01242391
+v 0.01853201 0.00706254 0.01242391
+v 0.01418652 0.00172232 0.01265022
+v 0.01950389 0.00717787 0.01211727
+v 0.01663086 -0.00294926 0.01179112
+v 0.01270407 0.00035289 0.01251149
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+v 0.01950389 0.00837876 0.01127280
+v 0.01418652 0.00295314 0.01267212
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+v 0.01296368 0.00172232 0.01265995
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_24.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c5e4afad8116f2a8c6c0479ed90f6f1f1b1a49
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_24.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00537213 -0.00332735 -0.01215985
+v -0.00540673 -0.00332506 -0.01215743
+v -0.00540673 0.00791701 -0.01217438
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+v -0.00540673 -0.00332743 0.01183273
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_25.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cce1f0919f3e9c37138d56a3af6f00341605da27
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_25.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.02466936 -0.01823115 0.00821385
+v 0.02460975 -0.01823115 0.00932633
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_26.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7380aabbd2321f258370fc55d84665b7266e3663
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_26.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.01982602 0.00312943 0.01186874
+v -0.02109020 0.00312943 0.01220990
+v -0.02168449 0.00150321 0.01238895
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+v -0.02232333 0.00312942 0.01237927
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_27.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02cadd445a4f17b3761f485128ab5e1421b84cac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_27.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00415028 0.00837999 -0.01218582
+v -0.01026123 0.00837999 -0.01216651
+v -0.01026123 0.00911560 -0.01217858
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+v -0.00415028 0.00911551 0.01236586
+v -0.00781697 0.00837990 0.01232001
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+v -0.00415028 0.02017503 0.01070080
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+v -0.01041955 0.02016347 0.01233453
+v -0.01024834 0.02017502 0.01233211
+v -0.00784581 0.02017503 0.01206184
+v -0.01041955 0.01999372 0.01236590
+v -0.00961748 0.02017502 0.01232246
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_28.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..680a5a6dac948974c64c7dc0e29708d0e1444fe7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_28.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.00920651 0.02883145 0.01168621
+v -0.00920651 0.02759901 0.01155697
+v -0.00920651 0.03099973 0.01160818
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+v -0.01300127 0.03099972 0.01230308
+v -0.00920651 0.03099981 -0.01208665
+v -0.01383449 0.03099972 0.01238842
+v -0.02250229 0.03099972 0.01275172
+v -0.01515337 0.02759900 0.01259322
+v -0.01392954 0.02759900 0.01250057
+v -0.01396370 0.02701322 0.01249081
+v -0.00920651 0.02701331 -0.01211104
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+v -0.02276815 0.03099972 0.01274196
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_29.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7833277e7a876436fb195d446420f4ce243aa0e6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_29.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01238433 0.00295369 0.01203747
+v -0.01238433 0.00172176 0.01201571
+v -0.01238433 0.00312943 0.01201329
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+v -0.01982602 -0.00095955 -0.01214543
+v -0.01982602 -0.00271880 0.01231060
+f 1 2 7
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_3.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3476259162ed412555f9f6d4c24f0d145861b1f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_3.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_30.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8716fbe51770cc244c13dfa982441c9fc52dcaee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_30.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_31.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52306b4175ced30f67fa8ecf6f0faadf0ba6264b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_31.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_32.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381209af1548e663558c397cb203cd552a63aba9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_32.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_33.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5550ddce6d6404f103bb74c2d9c3c40675906cb9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_33.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02467698 -0.03031609 -0.00617568
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_34.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16094819a18ca706a5e18987fec595853bb4efb3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_34.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_35.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eb7bb60e6b7b24b1d572bb40f0b5a763c10b605
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_35.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.02467327 -0.01306478 0.00821416
+v 0.02466254 -0.00985359 0.00821417
+v 0.02465538 -0.01429697 0.00941297
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+v 0.02465449 -0.01541857 0.00930615
+v 0.02467149 -0.01541857 0.00821415
+v 0.02467149 -0.01541857 0.00810608
+v 0.02466791 -0.01429695 0.00341891
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_36.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9776cf2648297e0c67b0fb1635c654cfcd7e9c00
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_36.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00211138 -0.03522226 0.01243651
+v -0.00048438 -0.03647699 0.01266878
+v 0.00211138 -0.03523228 0.01243651
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+v -0.01001168 -0.03647615 0.01203903
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+v 0.00211138 -0.03636925 -0.00001933
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_37.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6f00f2a0e1c7ea898595e7ca47b984d69147a64
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_37.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00415028 0.02380596 0.01190878
+v -0.00713179 0.02380595 0.01242859
+v -0.00720421 0.02328219 0.01241174
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+v -0.00415028 0.02380427 -0.01205564
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_38.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9760d0823f4b0b89b519e35681a995a75c8d4b74
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_38.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v 0.00808831 0.00048991 -0.01209292
+v 0.01174115 0.00172182 -0.01214877
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_39.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53467d3415e43d9ebbb6992229bf62ee190b5898
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_39.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.01813764 -0.01208271 0.01218249
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+f 50 57 51
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_4.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026f3742e119ced380b62f475d1dc8d01e7602de
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_4.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01296510 0.03747873 -0.00257790
+v 0.01296510 0.03746401 -0.00377745
+v 0.00437799 0.03746668 -0.00257790
+v 0.01174290 0.03747738 -0.00017966
+v 0.01785189 0.03747200 0.00452574
+v 0.02152046 0.03746264 0.00452574
+v 0.02152046 0.03745730 0.00221859
+v 0.01907408 0.03745732 -0.00137835
+v 0.01907408 0.03742921 -0.00377745
+v 0.01296510 0.03742654 -0.00417163
+v 0.00437799 0.03740110 -0.00377745
+v 0.01907408 0.03740379 -0.00417163
+v 0.00437799 0.03744794 -0.00017966
+v 0.00816759 0.03745862 0.00452574
+v 0.00938978 0.03746398 0.00452574
+v 0.01174290 0.03747469 0.00221859
+v 0.02161371 0.03745862 0.00452574
+v 0.02152046 0.03744258 0.00101904
+v 0.02274265 0.03738502 0.00341729
+v 0.02029628 0.03742118 -0.00257790
+v 0.02152046 0.03738103 -0.00257790
+v 0.02274265 0.03727664 -0.00377745
+v 0.00437799 0.03735963 -0.00417163
+v 0.02274265 0.03724854 -0.00417163
+v 0.00437799 0.03736762 0.00452574
+v 0.00450100 0.03738769 0.00452574
+v 0.00685214 0.03743855 0.00452574
+v 0.02274265 0.03738769 0.00452574
+v 0.02274265 0.03733685 -0.00017966
+v 0.02281408 0.03736494 0.00452574
+v 0.02368509 0.03707319 0.00341729
+v 0.02368707 0.03705447 -0.00017966
+v 0.02302637 0.03719635 -0.00417163
+v 0.00437799 0.02380906 -0.00417168
+v 0.00437799 0.02380768 0.00452569
+v 0.02367914 0.03707318 0.00452574
+v 0.02428031 0.03622337 -0.00017967
+v 0.02359581 0.03702237 -0.00417163
+v 0.02425849 0.03622338 -0.00137836
+v 0.02398469 0.03648971 -0.00417164
+v 0.00439188 0.02380772 -0.00417168
+v 0.02407595 0.02380768 0.00452569
+v 0.02419103 0.03628892 0.00452573
+v 0.02423270 0.03622335 0.00452573
+v 0.02456404 0.03549399 -0.00257791
+v 0.02417317 0.03622339 -0.00417164
+v 0.02390532 0.02380772 -0.00417168
+v 0.02418508 0.02380769 0.00351089
+v 0.02425055 0.02759916 0.00452570
+v 0.02443904 0.03508577 0.00452573
+v 0.02456999 0.03510318 -0.00128131
+v 0.02460967 0.03487836 -0.00257791
+v 0.02461563 0.03473248 -0.00377746
+v 0.02461364 0.03471241 -0.00417164
+v 0.02456602 0.03512596 -0.00417164
+v 0.02454023 0.03532804 -0.00417164
+v 0.02442317 0.03563586 -0.00417164
+v 0.02445492 0.03499208 0.00452573
+v 0.02435373 0.02883180 -0.00417166
+v 0.02427238 0.02380771 -0.00257795
+v 0.02434381 0.02380771 -0.00137840
+v 0.02434976 0.02390273 -0.00137840
+v 0.02430214 0.02636791 0.00341725
+v 0.02459380 0.03476727 -0.00161674
+v 0.02464340 0.03375951 -0.00377747
+v 0.02464737 0.03375952 -0.00417165
+v 0.02461166 0.03363773 -0.00246044
+v 0.02459380 0.03396829 -0.00161675
+v 0.02460769 0.03268752 -0.00417165
+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 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 12
+f 2 12 10
+f 3 11 23
+f 3 23 34
+f 3 34 35
+f 3 35 25
+f 3 25 13
+f 3 13 14
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+f 5 30 28
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+f 13 27 14
+f 17 28 19
+f 18 21 20
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+f 18 29 22
+f 18 22 21
+f 19 28 30
+f 19 30 31
+f 19 31 32
+f 19 32 29
+f 22 29 33
+f 22 33 24
+f 29 32 33
+f 30 36 31
+f 31 36 37
+f 31 37 32
+f 32 38 33
+f 32 37 39
+f 32 39 40
+f 32 40 38
+f 34 41 35
+f 35 41 47
+f 35 47 60
+f 35 60 61
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+f 35 48 42
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+f 37 44 45
+f 37 45 39
+f 39 46 40
+f 39 45 46
+f 42 48 49
+f 44 50 45
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+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 46
+f 45 50 58
+f 45 58 51
+f 47 59 60
+f 48 61 62
+f 48 62 63
+f 48 63 49
+f 49 63 58
+f 51 58 52
+f 52 64 65
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+f 52 66 53
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+f 53 66 54
+f 58 67 68
+f 58 68 65
+f 58 65 64
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+f 59 69 60
+f 60 69 62
+f 60 62 61
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+f 62 67 63
+f 65 68 67
+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_40.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef344c02432a282dab80c886174153c001b502d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_40.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00196181 -0.03775721 -0.00617581
+v 0.00211257 -0.03775638 -0.00617581
+v 0.00211257 -0.03775554 -0.00602912
+v -0.00028632 -0.03775554 -0.00617581
+v -0.00028632 -0.03771213 -0.00977280
+v 0.00211257 -0.03769210 -0.00977280
+v 0.00211257 -0.03768461 -0.00497721
+v -0.00028632 -0.03765957 -0.00497721
+v -0.00028632 -0.03754939 -0.01077939
+v 0.00211257 -0.03751685 -0.01097259
+v 0.00211257 -0.03767209 -0.00482933
+v 0.00211257 -0.03636939 -0.00002180
+v -0.00028632 -0.03735497 -0.00387402
+v -0.00028632 -0.03751685 -0.01097259
+v 0.00211257 -0.03726648 -0.01163332
+v 0.00211257 -0.02923154 -0.00002178
+v -0.00028632 -0.03609399 -0.00002180
+v -0.00028632 -0.03720389 -0.01168221
+v 0.00196181 -0.03722893 -0.01172634
+v 0.00211257 -0.03722976 -0.01172753
+v -0.00028632 -0.02923154 -0.00002178
+v 0.00211257 -0.02923150 -0.01218667
+v -0.00028632 -0.03647700 -0.01199110
+v 0.00196181 -0.03647700 -0.01204953
+v 0.00211257 -0.03657047 -0.01201137
+v -0.00028632 -0.02923150 -0.01218190
+v 0.00211257 -0.03524438 -0.01220577
+v 0.00210834 -0.02923150 -0.01218667
+v -0.00028632 -0.03524438 -0.01218192
+v 0.00211257 -0.03539627 -0.01218788
+v 0.00211257 -0.03647700 -0.01205073
+v 0.00196181 -0.03524438 -0.01220458
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 15
+f 2 15 20
+f 2 20 25
+f 2 25 31
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+f 2 22 16
+f 2 16 12
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+f 2 7 3
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+f 4 17 21
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+f 12 17 13
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+f 24 31 25
+f 26 28 27
+f 26 27 32
+f 26 32 29
+f 27 30 32
+f 29 32 30
+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_41.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e289d948afbde5068e0dbb3d5090cf7372ea4a7b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_41.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01813764 -0.01789044 0.01138365
+v -0.01813764 -0.01548117 0.01099792
+v -0.01999219 -0.01548117 0.01181253
+v -0.02004203 -0.01548117 0.01183409
+v -0.02137726 -0.01548118 0.01227015
+v -0.02126404 -0.01676151 0.01215754
+v -0.02126404 -0.01789044 0.01204971
+v -0.01813764 -0.01789036 -0.01217053
+v -0.01813764 -0.01548109 -0.01218490
+v -0.02237345 -0.01548118 0.01228692
+v -0.02248605 -0.01676151 0.01216473
+v -0.02248605 -0.01789044 0.01201378
+v -0.02126404 -0.01789036 -0.01218970
+v -0.01813764 -0.01739087 -0.01218250
+v -0.01813764 -0.01552944 -0.01218490
+v -0.01816471 -0.01548109 -0.01218490
+v -0.02354870 -0.01548117 0.01171909
+v -0.02357269 -0.01676151 0.01164242
+v -0.02340594 -0.01789044 0.01160168
+v -0.02248605 -0.01789036 -0.01209865
+v -0.02126404 -0.01676143 -0.01218729
+v -0.02126404 -0.01548109 -0.01218250
+v -0.02359115 -0.01548117 0.01169752
+v -0.02349701 -0.01789044 0.01155616
+v -0.02418370 -0.01676151 0.01061697
+v -0.02413632 -0.01788030 0.01049477
+v -0.02339856 -0.01789036 -0.01178958
+v -0.02248605 -0.01548109 -0.01202677
+v -0.02418308 -0.01548117 0.01057864
+v -0.02407971 -0.01789044 0.01058581
+v -0.02422554 -0.01548117 0.01049478
+v -0.02422492 -0.01556654 0.01049478
+v -0.02432030 -0.01739401 0.01001560
+v -0.02413755 -0.01789044 0.01048758
+v -0.02414124 -0.01789044 0.01047560
+v -0.02345271 -0.01789036 -0.01172250
+v -0.02332841 -0.01548109 -0.01172249
+v -0.02332841 -0.01552944 -0.01172488
+v -0.02431907 -0.01548117 0.01000362
+v -0.02432030 -0.01600189 0.01001560
+v -0.02435845 -0.01676150 0.00941183
+v -0.02435168 -0.01788029 0.00945255
+v -0.02435168 -0.01789043 0.00945015
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+v -0.02391173 -0.01548109 -0.01096777
+v -0.02440214 -0.01548116 0.00821387
+v -0.02441936 -0.01789043 0.00711414
+v -0.02433445 -0.01789036 -0.01041672
+v -0.02432337 -0.01701000 -0.01038078
+v -0.02425323 -0.01548109 -0.00977222
+v -0.02442367 -0.01789042 0.00591619
+v -0.02441567 -0.01548113 -0.00132664
+v -0.02441690 -0.01552947 -0.00137695
+v -0.02437937 -0.01789038 -0.00617597
+v -0.02436091 -0.01548110 -0.00696661
+v -0.02442121 -0.01789040 0.00101895
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 19
+f 1 19 24
+f 1 24 30
+f 1 30 34
+f 1 34 35
+f 1 35 44
+f 1 44 43
+f 1 43 52
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+f 1 45 36
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+f 1 9 2
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+f 31 39 40
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+f 41 51 42
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+f 53 58 54
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+f 57 63 64
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+f 60 62 65
+f 61 64 62
+f 62 64 63
+f 62 63 65
+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_42.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d267bcd75a317f616c3a9430a4b6da571ee31562
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_42.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
+v 0.02274285 -0.03776785 0.00341746
+v 0.02396528 -0.03743100 0.00701548
+v 0.02274285 -0.03776284 0.00581451
+v 0.02029859 -0.03775711 0.00701548
+v 0.02029859 -0.03775778 -0.00617563
+v 0.02274285 -0.03776495 -0.00497466
+v 0.02396226 -0.03743167 -0.00377614
+v 0.02458134 -0.03710058 0.00762941
+v 0.02356043 -0.03720667 0.01181202
+v 0.02274285 -0.03768400 0.00821400
+v 0.02274285 -0.03775568 0.00701548
+v 0.02152102 -0.03775640 0.00701548
+v 0.01849823 -0.03773920 0.00821400
+v 0.01849823 -0.03770401 -0.00737416
+v 0.02152102 -0.03772122 -0.00737416
+v 0.02152102 -0.03775993 -0.00617563
+v 0.02274285 -0.03776136 -0.00617563
+v 0.02408389 -0.03736071 -0.00607535
+v 0.02408692 -0.03736429 -0.00501135
+v 0.02462794 -0.03641680 0.00461599
+v 0.02461946 -0.03647702 0.00701549
+v 0.02460191 -0.03647702 0.00787891
+v 0.02459465 -0.03479125 0.01034200
+v 0.02457226 -0.03446657 0.01114183
+v 0.02451598 -0.03521915 0.01068933
+v 0.02419464 -0.03647703 0.01061106
+v 0.02345271 -0.03715364 0.01246509
+v 0.02457650 -0.03709336 -0.00561061
+v 0.02462552 -0.03645691 -0.00377613
+v 0.02274285 -0.03758223 0.00941252
+v 0.02152102 -0.03766537 0.00941252
+v 0.02029859 -0.03773131 0.00821400
+v 0.01907616 -0.03773705 0.00821400
+v 0.02152102 -0.03772343 0.00821400
+v 0.01907616 -0.03768616 0.00941252
+v 0.01849823 -0.03771196 0.00884506
+v 0.01849823 -0.03749830 -0.00977365
+v 0.02029859 -0.03755779 -0.00977365
+v 0.02152102 -0.03764309 -0.00857268
+v 0.02274285 -0.03769613 -0.00737416
+v 0.02383880 -0.03737718 -0.00737416
+v 0.02457045 -0.03706183 -0.00641045
+v 0.02466485 -0.03401358 0.00821402
+v 0.02467090 -0.03524490 -0.00377613
+v 0.02464791 -0.03401358 0.00941254
+v 0.02460615 -0.03403939 0.01068933
+v 0.02458194 -0.03364590 0.01122501
+v 0.02412504 -0.03524495 0.01181203
+v 0.02390900 -0.03647703 0.01181203
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_43.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96677d505a2ae7534573bc239d03aef7206ab08f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_43.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_44.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f23b96a4dae45151de0c0b8e41fd24c7a98077
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_44.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_45.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd2ebf336ec63ea8c2c0ad02766bf3d8eac9a57
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_45.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_46.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b96ddd5dcb32ce6d313e1c53fc6e2765591c14f6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_46.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_47.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4919e33506dd2f05b698e0a4bb285a6ae6633b7e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_47.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_48.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c32b64a68ac298a539454b62f8cc71da7fb0ed96
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_48.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_49.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60d1e7b25f79bf06dfad8dfb156c3acd25796d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_49.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_5.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e80871c4efde174797e990940ff961737ec0a96
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_5.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01553476 -0.00813668 0.01260589
+v 0.01553476 -0.00804514 0.01259609
+v 0.01540732 -0.00813668 0.01261079
+v 0.01296358 -0.00936701 0.01278977
+v 0.01553476 -0.00946588 0.01254215
+v 0.01553476 -0.00727984 0.01246614
+v 0.00561001 -0.00294926 0.01219402
+v 0.01174039 -0.00936701 0.01281429
+v 0.01051852 -0.01059979 0.01285105
+v 0.01174039 -0.01059979 0.01280202
+v 0.01296358 -0.01059979 0.01271131
+v 0.01289920 -0.01541859 0.01230430
+v 0.01306474 -0.01541859 0.01227978
+v 0.01418545 -0.01541858 0.01206648
+v 0.01429581 -0.01541858 0.01203706
+v 0.01553476 -0.01152741 0.01224303
+v 0.01553476 -0.00294926 0.01125501
+v 0.01053691 -0.00294926 0.01177723
+v 0.00440785 -0.00294926 0.01219892
+v 0.00318466 -0.01306411 0.01265981
+v 0.00318466 -0.01429689 0.01261077
+v 0.00318466 -0.01512931 0.01249308
+v 0.00440785 -0.01541859 0.01238766
+v 0.01553476 -0.01541858 0.01165704
+v 0.01553476 -0.00294918 -0.01215904
+v 0.00211257 -0.01246970 0.01255684
+v 0.00211257 -0.01300430 0.01259607
+v 0.00318466 -0.00294926 0.01173310
+v 0.00211257 -0.01414432 0.01259607
+v 0.00211257 -0.01429689 0.01258871
+v 0.00211257 -0.01507195 0.01247592
+v 0.00318466 -0.01541859 0.01236069
+v 0.01553476 -0.01541850 -0.01217135
+v 0.01418545 -0.00690382 -0.01217622
+v 0.00562972 -0.00690382 -0.01217867
+v 0.01540732 -0.00294918 -0.01215904
+v 0.00265650 -0.00294926 0.01144869
+v 0.00211257 -0.00294926 0.01108584
+v 0.00211257 -0.01541859 0.01231165
+v 0.01296358 -0.01541850 -0.01218606
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+v 0.00929533 -0.01429680 -0.01219585
+v 0.00807477 -0.01541850 -0.01219341
+v 0.00440785 -0.01429680 -0.01217624
+v 0.00440785 -0.00690382 -0.01217132
+v 0.00318466 -0.00567226 -0.01216150
+v 0.00318466 -0.00443949 -0.01214433
+v 0.00807477 -0.00320794 -0.01211736
+v 0.00807477 -0.00294918 -0.01210265
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+v 0.00211257 -0.01541850 -0.01211986
+v 0.00429748 -0.01541850 -0.01216154
+v 0.00211257 -0.01429680 -0.01215417
+v 0.00318466 -0.01541850 -0.01215173
+v 0.00211257 -0.00690382 -0.01214680
+v 0.00211257 -0.00567226 -0.01213698
+v 0.00211257 -0.00443949 -0.01204627
+v 0.00318466 -0.00294918 -0.01198496
+v 0.00217957 -0.00294918 -0.01170301
+v 0.00211257 -0.00314691 -0.01171772
+v 0.00211257 -0.01444815 -0.01215172
+v 0.00307561 -0.01541850 -0.01214928
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+f 1 4 5
+f 1 5 16
+f 1 16 24
+f 1 24 33
+f 1 33 25
+f 1 25 17
+f 1 17 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
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+f 4 8 9
+f 4 9 10
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+f 4 11 5
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+f 5 15 16
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+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 40 43 42
+f 43 52 44
+f 44 53 46
+f 44 46 45
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+f 46 53 55
+f 46 55 56
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+f 47 49 48
+f 50 59 60
+f 51 61 62
+f 53 54 61
+f 54 62 61
+f 57 60 59
+f 57 59 58
+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_50.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa60480a40bc1a4baec69249dacc4dec89c4f2e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_50.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01280997 -0.01789036 -0.01219137
+v -0.01238417 -0.01708708 -0.01219375
+v -0.01238417 -0.01789036 -0.01219137
+v -0.01769887 -0.01789036 -0.01217941
+v -0.01813764 -0.01744807 -0.01218180
+v -0.01637414 -0.01676133 -0.01218897
+v -0.01515192 -0.01676133 -0.01219136
+v -0.01637414 -0.01552884 -0.01219136
+v -0.01637414 -0.01429748 -0.01219135
+v -0.01392969 -0.01306499 -0.01219135
+v -0.01270747 -0.01306499 -0.01219135
+v -0.01238417 -0.01306499 -0.01218418
+v -0.01238417 -0.01789044 0.01131646
+v -0.01813764 -0.01789036 -0.01217224
+v -0.01813764 -0.01676133 -0.01218419
+v -0.01813764 -0.01375229 -0.01218657
+v -0.01392969 -0.01208263 -0.01218656
+v -0.01264157 -0.01208263 -0.01218656
+v -0.01238417 -0.01208263 -0.01218178
+v -0.01238417 -0.01772728 0.01135233
+v -0.01382718 -0.01789044 0.01162734
+v -0.01813764 -0.01789044 0.01138342
+v -0.01813764 -0.01306499 -0.01218179
+v -0.01813764 -0.01251980 -0.01216983
+v -0.01813764 -0.01208263 -0.01213634
+v -0.01238417 -0.01208271 0.01177325
+v -0.01238417 -0.01643510 0.01158670
+v -0.01238417 -0.01520317 0.01177562
+v -0.01504941 -0.01789044 0.01180670
+v -0.01637977 -0.01789044 0.01174213
+v -0.01813764 -0.01208271 0.01218219
+v -0.01392969 -0.01208271 0.01204588
+v -0.01238417 -0.01306507 0.01182346
+v -0.01238417 -0.01429756 0.01184977
+v -0.01518458 -0.01208271 0.01223241
+v -0.01637414 -0.01208271 0.01223719
+v -0.01515192 -0.01789044 0.01180670
+v -0.01627163 -0.01789044 0.01175887
+f 1 2 3
+f 1 3 13
+f 1 13 21
+f 1 21 29
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+f 1 38 30
+f 1 30 22
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+f 1 14 4
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+f 17 32 26
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+f 17 19 18
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+f 22 30 31
+f 26 32 33
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 30 38 31
+f 31 38 37
+f 31 37 36
+f 32 35 34
+f 32 34 33
+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_51.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edbd33f566fdb27e1c93e0d9e3a5399691d01441
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_51.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00028632 -0.02923237 -0.00002178
+v -0.01001331 -0.02923237 -0.00002178
+v -0.00028632 -0.03609401 -0.00002180
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+v -0.00052150 -0.03648787 -0.00002180
+v -0.00028632 -0.03735485 -0.00387447
+v -0.00028632 -0.03524451 -0.01218157
+v -0.00170595 -0.03524451 -0.01218753
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+v -0.00415103 -0.02923233 -0.01219347
+v -0.00993619 -0.03743163 -0.00002181
+v -0.01001331 -0.03767026 -0.00497795
+v -0.00659420 -0.03031628 -0.01219466
+v -0.01001331 -0.03524451 -0.01217681
+v -0.00097947 -0.03718880 -0.00002181
+v -0.00028632 -0.03765941 -0.00497795
+v -0.00028632 -0.03647698 -0.01199091
+v -0.00170595 -0.03647698 -0.01207194
+v -0.00292849 -0.03647698 -0.01210769
+v -0.00292849 -0.03524451 -0.01219111
+v -0.00537166 -0.03031628 -0.01219585
+v -0.00903928 -0.03770115 -0.00002181
+v -0.01001331 -0.03771782 -0.00593248
+v -0.00659420 -0.03524451 -0.01219349
+v -0.00781674 -0.03524451 -0.01219111
+v -0.01001331 -0.03647865 -0.01186221
+v -0.00158312 -0.03747335 -0.00002181
+v -0.00028632 -0.03775537 -0.00617558
+v -0.00170595 -0.03751674 -0.00002181
+v -0.00276663 -0.03773453 -0.00002181
+v -0.00028632 -0.03720378 -0.01168227
+v -0.00170595 -0.03728806 -0.01176331
+v -0.00292849 -0.03732228 -0.01179787
+v -0.00537166 -0.03524451 -0.01219349
+v -0.00781674 -0.03774537 -0.00018030
+v -0.00781674 -0.03773620 -0.00002181
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+v -0.01001331 -0.03773867 -0.00713010
+v -0.01001331 -0.03668559 -0.01175853
+v -0.00292849 -0.03774788 -0.00002181
+v -0.00292849 -0.03774872 -0.00018030
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+v -0.00170595 -0.03759514 -0.01097323
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+v -0.01001331 -0.03735816 -0.01097085
+v -0.00959438 -0.03708863 -0.01156668
+v -0.00781674 -0.03775204 -0.00138031
+v -0.00903928 -0.03774702 -0.00617558
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+v -0.00415103 -0.03772030 -0.00977322
+v -0.01001331 -0.03707194 -0.01154881
+v -0.00028632 -0.03755008 -0.01078018
+v -0.00537166 -0.03771530 -0.00977322
+v -0.01001331 -0.03768192 -0.00977322
+v -0.01001331 -0.03772031 -0.00857441
+f 1 2 5
+f 1 5 13
+f 1 13 24
+f 1 24 38
+f 1 38 42
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+f 1 31 29
+f 1 29 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
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+f 49 51 60
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+f 52 62 53
+f 53 59 54
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+f 57 61 58
+f 61 63 62
+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_52.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4caaa18785d860d613ecf1f45f630795dc0d9ef2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_52.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02466747 -0.00985354 -0.00497932
+v 0.02466568 -0.00985354 -0.00450762
+v 0.02462992 -0.01293943 -0.00494456
+v 0.02466657 -0.00985354 -0.00617421
+v 0.02462098 -0.01293943 -0.00428048
+v 0.02465495 -0.00985355 -0.00377980
+v 0.02462903 -0.01293943 -0.00503380
+v 0.02458343 -0.01293942 -0.00811663
+v 0.02456734 -0.01293942 -0.00866482
+v 0.02461830 -0.01072235 -0.00744327
+v 0.02462724 -0.00985353 -0.00723466
+v 0.02460132 -0.00985356 -0.00034464
+v 0.02461919 -0.01293943 -0.00419819
+v 0.02448063 -0.01293941 -0.00977279
+v 0.02442252 -0.01183254 -0.00977278
+v 0.02453963 -0.00985353 -0.00779791
+v 0.01553476 -0.00985356 -0.00034464
+v 0.02459059 -0.01003633 -0.00034464
+v 0.02435100 -0.01293944 -0.00359901
+v 0.02411858 -0.01293941 -0.01098158
+v 0.02414450 -0.00985352 -0.00977278
+v 0.01553476 -0.01293945 -0.00034465
+v 0.01553476 -0.00985352 -0.01205709
+v 0.02268466 -0.01290592 -0.00034465
+v 0.02268287 -0.01293945 -0.00034581
+v 0.02368411 -0.00985352 -0.01076600
+v 0.02388972 -0.00985352 -0.01035457
+v 0.02359918 -0.01293941 -0.01174418
+v 0.02265605 -0.01293945 -0.00034465
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_53.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f44ba4d83d7d1837b7da82de6aa35728f0cec76
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_53.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_6.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a9a0fe6d97a4ab56cacd7548ccf2753b8d55bcd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_6.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01491655 0.00837884 -0.01208197
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+
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_7.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0405523d34772bd1cb4352ce34e5f8784549fcc6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_7.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_8.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb028fe1daeadd5aa422d0d8832ccba94c8344f9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_8.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_9.obj b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1bad2ef4dba2913f003b1e92e1d467cf833548e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/mesh/sponge_034_collision_9.obj
@@ -0,0 +1,631 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/sponge_034.xml b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/sponge_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2bd6921786e9aed08ff1e27c3c3ff04324eda9b3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mjcf/sponge_034.xml
@@ -0,0 +1,122 @@
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+    <mesh name="collision_mesh_0_25" file="mesh/sponge_034_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sponge_034_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sponge_034_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sponge_034_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_30" file="mesh/sponge_034_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sponge_034_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sponge_034_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/sponge_034_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/sponge_034_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/sponge_034_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/sponge_034_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/sponge_034_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/sponge_034_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/sponge_034_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/sponge_034_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/sponge_034_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/sponge_034_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/sponge_034_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/sponge_034_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/sponge_034_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/sponge_034_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/sponge_034_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/sponge_034_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/sponge_034_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/sponge_034_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/sponge_034_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/sponge_034_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/sponge_034_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_034">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_53" 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/3e561e66772f5fddb529c9bb3b0ab6fb/sponge_034.urdf b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/sponge_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8923838f5fe2ba44b7df66e757aa02b564dd7744
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/sponge_034.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_034">
+   <link name="sponge_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_034.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_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>3e561e66772f5fddb529c9bb3b0ab6fb</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>blue sponge</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>organic</material>
+         <description>rectangular blue porous cleaning sponge with rough scrubbing layer</description>
+         <min_height>0.0250</min_height>
+         <max_height>0.0250</max_height>
+         <real_height>0.0250</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170820</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024302 -0.037571 -0.012063</min>
+            <max>0.024564 0.037315 0.012937</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/sponge_034.usd b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/sponge_034.usd
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+++ b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/sponge_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:883b05a274b5a1101a6eaa1e1d367aa3a37de27f353a935e417141c5be632545
+size 4995098
diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/textures/material_0.png b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/video.mp4 b/dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/video.mp4
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+size 1210394