diff --git a/.gitattributes b/.gitattributes
index 25a7cc468e8d1c21d2115fa7693b6a9a8721f4ba..e4899c360bfc7c2d12bea97f03230951882568f6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5201,3 +5201,5 @@ dataset/bathroom_supplies/bath_products/34b0e64c365955829652aa4c50b9ca79/facial_
 dataset/bathroom_supplies/bath_products/34b0e64c365955829652aa4c50b9ca79/mesh/facial_cleanser_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/34b0e64c365955829652aa4c50b9ca79/mesh/facial_cleanser_030.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/34b0e64c365955829652aa4c50b9ca79/mjcf/mesh/facial_cleanser_030.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/soap_dish_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..140e2435bd7ac81a72f9bddcf09d759dd43f16e2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_039_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+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/34c1e24fcd9550aca944d9a66a3c8046/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..eadabd1e9fe62b135482ce2a32b3521a17d7e428
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afeb8619b5aa0ee97cfd6cb972f79583d3bdef5d2bd7e88744fd2751d7618fcf
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.glb b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..18113a16b343e347b0cdb15d83f45726e5a68592
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b47f649af4453bd29e236322e28d69aa086c9fc302e986ae69ced7e59c0a7ce
+size 14943520
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.mtl b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..718eb8c1aeaddf8397769bc9c1aa2364595600a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_039_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/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f06361dea49073f50a6044505a7b89bbb5c598
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.obj
@@ -0,0 +1,104484 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_039_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039_collision.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca612ff8bbf23067f94f2541f34c8e28293ba0b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039_collision.obj
@@ -0,0 +1,13628 @@
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac9e5c53e26547d43880ab90d78c1e2a020dc65
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_0.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ced4a996eb550a221c88fd1099657a5605b198f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_1.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8597c55af17399f6e487aff776167df0b1e7c0d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_1.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_10.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2e1c11e7ce51e6870a9f3b907c1a7642ec83c21
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_10.obj
@@ -0,0 +1,1099 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_11.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc69a0728410e4069894b414f6c5f827710368a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_12.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8647a9fdf5a764f5d8157bfdd0e90378f155bc22
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_12.obj
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+f 114 134 128
+f 114 117 134
+f 115 118 116
+f 115 128 130
+f 115 130 118
+f 117 131 134
+f 118 130 126
+f 120 138 121
+f 120 125 124
+f 120 124 123
+f 120 123 122
+f 120 122 138
+f 127 130 128
+f 128 134 129
+f 129 134 139
+f 131 137 135
+f 133 139 134
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_13.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef6f5654d029d334ec1d8c6ff459cf5e19d9afc0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_13.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02742873 0.00713528 -0.01644922
+v -0.02742873 0.00736384 -0.01652762
+v -0.01886209 0.00713526 -0.01182610
+v -0.02742873 0.00713520 0.00659808
+v -0.02742873 0.00829750 -0.01681593
+v -0.01886209 0.00908202 -0.01205625
+v -0.01886209 0.00713520 0.00637046
+v -0.02742873 0.00909339 -0.01705619
+v -0.02742873 0.01076945 -0.01751141
+v -0.02742873 0.01104987 -0.01758476
+v -0.02742873 0.01182307 -0.01777444
+v -0.02731803 0.01240823 -0.01784271
+v -0.02710670 0.01371147 -0.01796663
+v -0.02694484 0.01496122 -0.01806021
+v -0.02548394 0.01886932 -0.01773900
+v -0.02531789 0.02029413 -0.01785028
+v -0.02517029 0.02159737 -0.01794384
+v -0.02505540 0.02278067 -0.01801972
+v -0.02496483 0.02369326 -0.01807534
+v -0.02742873 0.02369316 0.00684093
+v -0.01886209 0.01524000 -0.01267331
+v -0.01886209 0.02368668 0.00647927
+v -0.02742873 0.01250225 -0.01791100
+v -0.02742873 0.01348292 -0.01807538
+v -0.02742873 0.01496122 -0.01827012
+v -0.02670248 0.01691446 -0.01819171
+v -0.02647101 0.01886932 -0.01829539
+v -0.02619762 0.02278067 -0.01856093
+v -0.02619762 0.02369326 -0.01864691
+v -0.02397776 0.02369325 -0.01733433
+v -0.02742873 0.02369326 -0.01899592
+v -0.01947597 0.02369317 0.00626177
+v -0.01886209 0.02369324 -0.01348005
+v -0.01886209 0.02369317 0.00450914
+v -0.02742873 0.01691446 -0.01849014
+v -0.02742873 0.01886932 -0.01866969
+v -0.02742873 0.02278067 -0.01895294
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 20
+f 1 20 31
+f 1 31 37
+f 1 37 36
+f 1 36 35
+f 1 35 25
+f 1 25 24
+f 1 24 23
+f 1 23 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 6 21
+f 3 21 33
+f 3 33 34
+f 3 34 22
+f 3 22 7
+f 3 5 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 6
+f 4 7 20
+f 6 19 21
+f 7 22 20
+f 11 23 12
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 16
+f 14 16 15
+f 16 26 17
+f 17 26 18
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 31
+f 19 31 20
+f 19 20 32
+f 19 32 34
+f 19 34 33
+f 19 33 30
+f 19 30 21
+f 20 22 32
+f 21 30 33
+f 22 34 32
+f 25 35 26
+f 26 35 27
+f 27 35 28
+f 28 35 29
+f 29 35 36
+f 29 36 37
+f 29 37 31
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_14.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e71dc1b811be0b72b0c6d7f1ee6fc70a448cf0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00850113 -0.02523044 0.00667575
+v 0.00850113 -0.02194910 0.00666901
+v 0.00194809 -0.02523044 0.00652899
+v 0.00850113 -0.02523038 -0.01055790
+v 0.00194809 -0.02194910 0.00648008
+v 0.00850113 -0.02194904 -0.01014459
+v 0.00194809 -0.02523038 -0.01012099
+v 0.00194809 -0.02194904 -0.00980552
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_15.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c6984956ef521774d36756fbf91b4a50feecae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_15.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04390011 -0.02194869 -0.01948474
+v 0.04390011 -0.02023824 -0.01948737
+v 0.04711096 -0.01828255 -0.01947419
+v 0.04683469 -0.02023824 -0.01947156
+v 0.04711096 -0.02051141 -0.01946894
+v 0.04658640 -0.02194869 -0.01946630
+v 0.04390011 -0.02194878 0.00581832
+v 0.04390011 -0.01828255 -0.01949000
+v 0.04711096 -0.01632686 -0.01947155
+v 0.04711096 -0.02194869 -0.01946103
+v 0.04711096 -0.02194879 0.00742265
+v 0.04390011 -0.00609216 0.00595801
+v 0.04390011 -0.01632686 -0.01948472
+v 0.04486123 -0.01632686 -0.01948209
+v 0.04486123 -0.01437272 -0.01947154
+v 0.04683469 -0.01437272 -0.01946100
+v 0.04711096 -0.01464589 -0.01946100
+v 0.04711096 -0.00609216 0.00631101
+v 0.04390011 -0.00609207 -0.01935823
+v 0.04390011 -0.01437272 -0.01947417
+v 0.04486123 -0.01241858 -0.01945310
+v 0.04683469 -0.01241858 -0.01944256
+v 0.04711096 -0.01269175 -0.01944256
+v 0.04711096 -0.00609207 -0.01932925
+v 0.04486123 -0.00609207 -0.01935823
+v 0.04390011 -0.00655151 -0.01936614
+v 0.04390011 -0.01241858 -0.01945574
+v 0.04486123 -0.01046289 -0.01942675
+v 0.04711096 -0.01241858 -0.01943993
+v 0.04711096 -0.01073606 -0.01941357
+v 0.04683469 -0.00609207 -0.01933452
+v 0.04390011 -0.01046289 -0.01942938
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 11
+f 1 11 7
+f 1 7 12
+f 1 12 19
+f 1 19 26
+f 1 26 32
+f 1 32 27
+f 1 27 20
+f 1 20 13
+f 1 13 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 17
+f 3 17 23
+f 3 23 29
+f 3 29 30
+f 3 30 24
+f 3 24 18
+f 3 18 11
+f 3 11 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 9 15 16
+f 9 16 17
+f 9 14 15
+f 11 18 12
+f 12 18 24
+f 12 24 31
+f 12 31 25
+f 12 25 19
+f 13 20 15
+f 13 15 14
+f 15 21 22
+f 15 22 16
+f 15 20 27
+f 15 27 21
+f 16 22 23
+f 16 23 17
+f 19 25 26
+f 21 27 32
+f 21 32 28
+f 21 28 22
+f 22 29 23
+f 22 28 25
+f 22 25 30
+f 22 30 29
+f 24 30 31
+f 25 28 32
+f 25 32 26
+f 25 31 30
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_16.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eafe5236ad4cbe79bd07ca11e5626d91275c07d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_16.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01885977 0.00303903 -0.01152368
+v -0.01885977 0.02368313 -0.01347770
+v -0.00373740 0.00303902 -0.00925166
+v -0.01885977 0.00303894 0.01322730
+v -0.01885977 0.02369324 -0.01347770
+v -0.00373740 0.02369323 -0.01003541
+v -0.00373740 0.00303894 0.01363017
+v -0.00843371 0.00303894 0.01450719
+v -0.01885977 0.00322696 0.01323552
+v -0.01885977 0.02369317 0.00450931
+v -0.00373740 0.02369316 0.00694851
+v -0.00373740 0.00322696 0.01363017
+v -0.00646013 0.02369314 0.01447438
+v -0.00646013 0.00303894 0.01444415
+v -0.00666741 0.02369314 0.01448260
+v -0.00843371 0.02369314 0.01451549
+v -0.01040729 0.02369314 0.01437298
+v -0.01641982 0.02369314 0.01314790
+v -0.01689656 0.02369314 0.01304649
+v -0.01730519 0.02369314 0.01261621
+v -0.01802918 0.02369315 0.01178853
+v -0.01885977 0.00437127 0.01298339
+v -0.01885977 0.02368710 0.00647985
+v -0.01885237 0.02369317 0.00648533
+v -0.00385584 0.02369315 0.01166519
+v -0.00373740 0.00495354 0.01323279
+v -0.00455762 0.02369314 0.01363299
+v -0.00523868 0.02369314 0.01401669
+v -0.01822165 0.02369315 0.01078818
+v -0.01885977 0.00472912 0.01287924
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 22
+f 1 22 30
+f 1 30 23
+f 1 23 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 26
+f 3 26 12
+f 3 12 7
+f 4 8 9
+f 5 10 24
+f 5 24 29
+f 5 29 21
+f 5 21 20
+f 5 20 19
+f 5 19 18
+f 5 18 17
+f 5 17 16
+f 5 16 15
+f 5 15 13
+f 5 13 28
+f 5 28 27
+f 5 27 25
+f 5 25 11
+f 5 11 6
+f 7 12 13
+f 7 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 17 18
+f 10 23 24
+f 11 25 26
+f 12 27 28
+f 12 28 13
+f 12 26 25
+f 12 25 27
+f 13 15 14
+f 21 29 22
+f 22 29 30
+f 23 30 29
+f 23 29 24
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_17.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989354555e581769b3f708bb428d5a74dc26996d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_17.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.01886209 0.00322692 0.01323245
+v -0.03015002 0.00580890 0.01440754
+v -0.03015002 0.00322692 0.01443741
+v -0.01886209 0.00317361 0.01323245
+v -0.01886209 0.00437161 0.01298350
+v -0.03212403 0.00580890 0.01450713
+v -0.01886209 0.00472833 0.01287728
+v -0.01886209 0.00533035 0.01215365
+v -0.01886209 0.00546702 0.01179515
+v -0.01886209 0.00713358 0.00636788
+v -0.03015002 0.00303934 0.01443741
+v -0.03212403 0.00303934 0.01451043
+v -0.01886209 0.00303894 0.01322581
+v -0.02742990 0.00713358 0.00659693
+v -0.03345931 0.00580890 0.01433783
+v -0.04698830 0.00487422 0.01327561
+v -0.04698830 0.00322692 0.01371709
+v -0.04698830 0.00303934 0.01372041
+v -0.01886209 0.00713364 -0.01182593
+v -0.02742990 0.00303894 0.01362083
+v -0.01886209 0.00303903 -0.01152056
+v -0.02742990 0.00713366 -0.01644990
+v -0.04698830 0.00580893 0.00418037
+v -0.04698004 0.00580893 0.00654712
+v -0.04698830 0.00543937 0.01107815
+v -0.04698830 0.00538045 0.01166569
+v -0.03409528 0.00580890 0.01424157
+v -0.04698830 0.00504777 0.01282085
+v -0.04698830 0.00303946 -0.01934115
+v -0.02742990 0.00303905 -0.01542090
+v -0.03192305 0.00303946 -0.01814615
+v -0.03067862 0.00580902 -0.01807643
+v -0.03212403 0.00580902 -0.01860090
+v -0.03409528 0.00580902 -0.01908222
+v -0.03606929 0.00580902 -0.01930131
+v -0.03803780 0.00580902 -0.01937765
+v -0.04001181 0.00580902 -0.01940089
+v -0.04198582 0.00580902 -0.01939757
+v -0.04395983 0.00580902 -0.01939093
+v -0.04459305 0.00580902 -0.01938761
+v -0.04656707 0.00580902 -0.01937433
+v -0.04698830 0.00580902 -0.01937101
+v -0.04698830 0.00567785 0.00741682
+v -0.04593384 0.00303946 -0.01935111
+v -0.03409528 0.00303946 -0.01885651
+v -0.03392459 0.00303946 -0.01880340
+v -0.03208548 0.00303946 -0.01821254
+v -0.04395983 0.00303946 -0.01936438
+v -0.04198582 0.00303946 -0.01936770
+v -0.04179585 0.00303946 -0.01936770
+v -0.04001181 0.00303946 -0.01936106
+v -0.03803780 0.00303946 -0.01932123
+v -0.03606929 0.00303946 -0.01918845
+v -0.03606929 0.00518176 -0.01927807
+v -0.03803780 0.00518176 -0.01936769
+v -0.04198582 0.00322704 -0.01937102
+f 1 2 3
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+f 1 11 4
+f 1 4 13
+f 1 13 21
+f 1 21 19
+f 1 19 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
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+f 2 10 6
+f 3 6 12
+f 3 12 11
+f 4 11 13
+f 6 10 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 12
+f 10 19 22
+f 10 22 14
+f 11 12 20
+f 11 20 13
+f 12 18 20
+f 13 20 30
+f 13 30 21
+f 14 22 42
+f 14 42 23
+f 14 23 24
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+f 14 25 26
+f 14 26 27
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+f 16 26 25
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+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 23 43 24
+f 24 43 25
+f 26 28 27
+f 29 42 44
+f 29 44 30
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 30 44 48
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 45
+f 31 47 32
+f 32 47 33
+f 33 47 46
+f 33 46 45
+f 33 45 34
+f 34 45 53
+f 34 53 54
+f 34 54 35
+f 35 54 52
+f 35 52 55
+f 35 55 36
+f 36 55 51
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+f 37 51 50
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+f 38 56 48
+f 38 48 39
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+f 40 48 44
+f 40 44 41
+f 41 44 42
+f 48 56 49
+f 49 56 50
+f 51 55 52
+f 52 54 53
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_18.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efe2e200863f82a9411f3f136cffb8740079b4c0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_18.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01963214 -0.02523047 0.01450397
+v 0.01963214 -0.02194911 0.00758417
+v 0.01946433 -0.02194912 0.00975840
+v 0.01926492 -0.02194912 0.01122978
+v 0.01917557 -0.02194912 0.01166691
+v 0.01962233 -0.02523047 0.01453254
+v 0.01963214 -0.02523037 -0.01286669
+v 0.01963214 -0.02194904 -0.01219527
+v 0.01874188 -0.02194913 0.01272688
+v 0.01926165 -0.02523048 0.01548394
+v 0.00850113 -0.02523038 -0.01055533
+v 0.00850113 -0.02194904 -0.01014390
+v 0.01857843 -0.02194913 0.01297831
+v 0.01922024 -0.02523048 0.01550108
+v 0.01746369 -0.02194913 0.01380685
+v 0.01722614 -0.02194913 0.01392399
+v 0.00850113 -0.02523044 0.00667562
+v 0.00850113 -0.02194910 0.00666706
+v 0.01722614 -0.02523048 0.01621535
+v 0.01550119 -0.02194913 0.01444684
+v 0.00850876 -0.02523046 0.01166405
+v 0.00869401 -0.02523047 0.01357542
+v 0.00963330 -0.02194912 0.01153549
+v 0.01525275 -0.02523048 0.01632106
+v 0.01525275 -0.02194913 0.01450398
+v 0.00945569 -0.02523048 0.01544965
+v 0.01004847 -0.02194912 0.01222404
+v 0.01327935 -0.02523048 0.01631820
+v 0.01327935 -0.02194913 0.01450112
+v 0.01130595 -0.02523048 0.01610392
+v 0.01115558 -0.02194913 0.01351543
+v 0.01056388 -0.02194913 0.01303830
+v 0.01132230 -0.02523048 0.01610964
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 10
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+f 1 19 24
+f 1 24 28
+f 1 28 33
+f 1 33 30
+f 1 30 26
+f 1 26 22
+f 1 22 21
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+f 1 17 11
+f 1 11 7
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_19.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..296eb7bc5d0e8364dc38bb6c0912761378e35bad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_19.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_2.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec79c0e620cd914d735ad795e086075a45a7d213
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_2.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.00194809 -0.03001810 0.02186823
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_20.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e76f1d20c2a8c2df437389d3e7aa7e67d8721a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_20.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_21.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24f9b635b10b76abaf14c795ecb526492e1cc747
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_21.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_22.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b30969098c43a69728636d370c0165ef4aad6618
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_22.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_23.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4da5508348b5560d79736c1d926d82f3c73c349d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_23.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_24.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a2a4c176ba2afae4a4f2385a0daef05c77185b3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_24.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_25.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc31314ba6e107770b5436e9f1626d815eb9ca3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_25.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_26.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d71eae2d401268c91516a1b52dbd12545775c295
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_26.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v 0.06073814 0.02081053 -0.00169176
+v 0.06073493 0.02278140 -0.00169176
+v 0.06073654 0.02082613 0.00021864
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+v 0.06073333 0.02081053 -0.00360217
+v 0.06073333 0.02082614 -0.00360217
+v 0.06073172 0.02278140 -0.00360217
+v 0.06073011 0.02451783 -0.00169175
+v 0.06073011 0.02451782 0.00021865
+v 0.06073333 0.02278139 0.00021864
+v 0.06073011 0.02081051 0.00213715
+v 0.06072048 0.02081054 -0.00550852
+v 0.06072048 0.02082615 -0.00550852
+v 0.06071566 0.02278141 -0.00550852
+v 0.06071406 0.02451783 -0.00360216
+v 0.06072369 0.02451781 0.00212097
+v 0.06072690 0.02278138 0.00212096
+v 0.06071084 0.02451781 0.00403137
+v 0.06071566 0.02081051 0.00404755
+v 0.06068998 0.02081055 -0.00741893
+v 0.06068998 0.02082616 -0.00741893
+v 0.06068355 0.02278142 -0.00741893
+v 0.06063539 0.02451785 -0.00911076
+v 0.06068837 0.02451780 0.00593773
+v 0.06069158 0.02278137 0.00593772
+v 0.06069319 0.02081050 0.00595391
+v 0.06063860 0.02081055 -0.00931315
+v 0.06063057 0.02451785 -0.00932528
+v 0.06068516 0.02451780 0.00615224
+v 0.06065947 0.02451779 0.00784813
+v 0.06066429 0.02081049 0.00786431
+v 0.06056474 0.02081056 -0.01121950
+v 0.06056153 0.02278143 -0.01123569
+v 0.06055832 0.02451786 -0.01123568
+v 0.06062254 0.02451778 0.00975854
+v 0.06062736 0.02081048 0.00977067
+v 0.06045878 0.02081057 -0.01312991
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+v 0.06045396 0.02451787 -0.01314609
+v 0.06061773 0.02451778 0.00997306
+v 0.06058562 0.02081048 0.01168108
+v 0.06045717 0.02081057 -0.01314610
+v 0.06026611 0.02451788 -0.01505245
+v 0.06057919 0.02451778 0.01166490
+v 0.06058240 0.02278135 0.01166489
+v 0.06052942 0.02081047 0.01359148
+v 0.06026611 0.02081058 -0.01505246
+v 0.05994339 0.02451788 -0.01641645
+v 0.06052300 0.02451777 0.01357530
+v 0.06045557 0.02082607 0.01548165
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+v 0.05990486 0.02081058 -0.01657026
+v 0.05990165 0.02278145 -0.01658645
+v 0.05990165 0.02451788 -0.01658644
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+v 0.05990165 0.02081058 -0.01658240
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+v 0.05948421 0.02451788 -0.01743641
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+v 0.06033836 0.02278133 0.01739206
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+v 0.05943604 0.02081058 -0.01752951
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+v 0.05943122 0.02081058 -0.01753760
+v 0.05844542 0.02081059 -0.01842400
+v 0.05844542 0.02082620 -0.01842400
+v 0.06029501 0.02451776 0.01760659
+v 0.06001083 0.02451775 0.01930247
+v 0.06001564 0.02082606 0.01930246
+v 0.06001564 0.02081045 0.01930246
+v 0.05844542 0.02278146 -0.01841995
+v 0.05855459 0.02451789 -0.01831066
+v 0.05671785 0.02081059 -0.01909183
+v 0.05971219 0.02451775 0.02031434
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+v 0.05670340 0.02081059 -0.01909588
+v 0.05670340 0.02082620 -0.01909588
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+v 0.05473018 0.02278146 -0.01929421
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+v 0.05473018 0.02451789 -0.01926182
+v 0.05495014 0.02451789 -0.01924158
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+v 0.05275535 0.02451789 -0.01933467
+v 0.05297692 0.02451789 -0.01932657
+v 0.05670340 0.02451774 0.02168239
+v 0.05670340 0.02081044 0.02164190
+v 0.05079979 0.02081059 -0.01942373
+v 0.05078374 0.02278146 -0.01940349
+v 0.05100531 0.02451789 -0.01937110
+v 0.05668734 0.02081044 0.02164595
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+v 0.05473018 0.02081044 0.02181190
+v 0.04880892 0.02278146 -0.01943182
+v 0.04882497 0.02081059 -0.01944801
+v 0.04903048 0.02451789 -0.01940752
+v 0.05473018 0.02451774 0.02182405
+v 0.05275535 0.02081044 0.02186046
+v 0.04683570 0.02451789 -0.01943586
+v 0.04683570 0.02278146 -0.01945206
+v 0.04685175 0.02081059 -0.01946420
+v 0.05275535 0.02451774 0.02186047
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+v 0.05273930 0.02081044 0.02186046
+v 0.04486248 0.02451789 -0.01945609
+v 0.04486248 0.02278146 -0.01946825
+v 0.04487693 0.02081059 -0.01948039
+v 0.05078374 0.02278131 0.02185237
+v 0.04879125 0.02451774 0.02159334
+v 0.05078374 0.02081044 0.02182404
+v 0.04433586 0.02451789 -0.01946014
+v 0.04433586 0.02278146 -0.01947230
+v 0.04433586 0.02081059 -0.01948444
+v 0.04699464 0.02451774 0.02084861
+v 0.05076929 0.02081044 0.02181999
+v 0.04433586 0.02451780 0.00649223
+v 0.04433586 0.02081050 0.00580010
+v 0.04894057 0.02081044 0.02101859
+v 0.04597191 0.02451775 0.01930247
+v 0.04572305 0.02451776 0.01739207
+v 0.04796600 0.02081045 0.01933889
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+f 1 3 4
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+f 1 11 19
+f 1 19 26
+f 1 26 31
+f 1 31 36
+f 1 36 41
+f 1 41 46
+f 1 46 51
+f 1 51 57
+f 1 57 63
+f 1 63 72
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+f 1 108 114
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+f 1 32 27
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_27.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4076156376e095f57f819cc1c297e0826c9c4348
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_27.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.03778135 -0.00799929 0.00661434
+v 0.03747025 -0.00799931 0.00975922
+v 0.03747170 -0.01437388 0.00975920
+v 0.03778135 -0.01437386 0.00661432
+v 0.02697819 -0.00799929 0.00661434
+v 0.03699275 -0.00799931 0.01166722
+v 0.03746736 -0.02023908 0.00975918
+v 0.03699275 -0.00850731 0.01166722
+v 0.03699130 -0.02023908 0.01166718
+v 0.03777990 -0.01632802 0.00661431
+v 0.02300044 -0.01029348 0.00661433
+v 0.02803738 -0.00799931 0.01085315
+v 0.03624610 -0.00799932 0.01279135
+v 0.03633871 -0.02194881 0.01265641
+v 0.03746591 -0.02194880 0.00975917
+v 0.03698985 -0.02194880 0.01166717
+v 0.03775531 -0.02194878 0.00661429
+v 0.02300044 -0.02172482 0.00661429
+v 0.02300044 -0.01144197 0.01261215
+v 0.02818642 -0.00799931 0.01110147
+v 0.03499157 -0.00799932 0.01297188
+v 0.03499157 -0.02194881 0.01298996
+v 0.03514929 -0.02194881 0.01296714
+v 0.03624466 -0.02194881 0.01279734
+v 0.02595228 -0.02194878 0.00661429
+v 0.02702015 -0.02194880 0.00975917
+v 0.02756277 -0.02194880 0.01119873
+v 0.02300044 -0.02093417 0.00975917
+v 0.02300044 -0.01241973 0.01316918
+v 0.02959723 -0.00799932 0.01281887
+v 0.02886795 -0.00799931 0.01207325
+v 0.02861039 -0.00799931 0.01180749
+v 0.03104276 -0.00799932 0.01299806
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+v 0.02709684 -0.01437389 0.01344433
+v 0.03326532 -0.02194881 0.01300204
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+v 0.02300044 -0.02047943 0.01152422
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+v 0.02997344 -0.00799932 0.01286585
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+v 0.02953067 -0.02194881 0.01283224
+v 0.02300044 -0.01967237 0.01273561
+v 0.02300044 -0.01828357 0.01300473
+v 0.02300044 -0.01960819 0.01282218
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_28.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7bf629da30ea1ae506cbe55c44ce4d0a910f1cb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_28.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00228676 -0.02273657 -0.00997887
+v -0.00228676 -0.00841492 -0.00934056
+v 0.00194809 -0.02273657 -0.00987326
+v -0.00228676 -0.02273663 0.00646890
+v -0.00228676 -0.00841497 0.00605569
+v 0.00194809 -0.00841492 -0.00921888
+v 0.00194809 -0.02273663 0.00626456
+v -0.00228676 -0.02124630 0.01021809
+v 0.00194809 -0.00841497 0.00580544
+v -0.00228676 -0.01105640 0.01188495
+v 0.00194809 -0.01143916 0.01262422
+v 0.00194809 -0.02044294 0.01166680
+v -0.00228676 -0.02065745 0.01165532
+v -0.00228676 -0.01219485 0.01306963
+v -0.00152527 -0.01144057 0.01261963
+v -0.00016685 -0.01143916 0.01262193
+v 0.00143573 -0.01143916 0.01262422
+v -0.00228676 -0.01222290 0.01308570
+v 0.00194809 -0.01241778 0.01317523
+v 0.00194809 -0.02022703 0.01196757
+v 0.00194809 -0.01961156 0.01282394
+v -0.00228676 -0.02058174 0.01175863
+v -0.00228676 -0.01437360 0.01345992
+v 0.00143573 -0.01241778 0.01317293
+v 0.00194809 -0.01437360 0.01347599
+v -0.00228676 -0.01963679 0.01283542
+v 0.00194809 -0.01828384 0.01300531
+v -0.00228676 -0.01828384 0.01305582
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_29.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..351cae1acee721d9caf5964d9f08329957a56a2e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_29.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.02423669 -0.02194905 0.00649126
+v 0.01963323 -0.02194906 0.00758200
+v 0.01963323 -0.02470661 0.01264654
+v 0.02423669 -0.02470658 0.00631387
+v 0.02423669 -0.02194898 -0.01378548
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+v 0.01963323 -0.02470651 -0.01275564
+v 0.02423669 -0.02470651 -0.01439970
+v 0.02423669 -0.02406133 -0.01426733
+f 1 2 3
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+f 2 7 3
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_3.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b53cb5fabfec7dfbf552cc1b3e52ecb0aeb60f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_30.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27bbe7c3b8927bbd90570fcf6bbebf9c1947dc5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_30.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.04433363 0.00523410 0.00760995
+v 0.03751818 0.01253709 0.00760998
+v 0.04433363 0.00513850 0.00760995
+v 0.04433363 0.01253710 0.00579587
+v 0.02762664 0.01253709 0.00760998
+v 0.02159690 0.00513850 0.00760995
+v 0.04433363 0.00513860 -0.01936829
+v 0.04433363 0.01253719 -0.01946639
+v 0.02159690 0.00524206 0.00760995
+v 0.02159690 0.01253710 0.00581178
+v 0.02159690 0.00513857 -0.01088653
+v 0.04292914 0.00513860 -0.01938420
+v 0.04433363 0.00570277 -0.01937625
+v 0.04433363 0.01104820 -0.01945049
+v 0.04288685 0.01253719 -0.01947700
+v 0.02159690 0.01253716 -0.01157873
+v 0.03214283 0.01253719 -0.01784589
+v 0.03215396 0.01245246 -0.01784059
+v 0.03359851 0.00909282 -0.01815887
+v 0.03386116 0.00713816 -0.01800770
+v 0.03399694 0.00613150 -0.01792284
+v 0.03415719 0.00513860 -0.01782205
+v 0.04288685 0.00513860 -0.01938420
+v 0.04091255 0.00909282 -0.01944254
+v 0.04091255 0.01104820 -0.01946905
+v 0.04288685 0.00909282 -0.01943724
+v 0.04288685 0.01104820 -0.01946110
+v 0.04091255 0.01253719 -0.01948496
+v 0.03300867 0.01253719 -0.01830738
+v 0.03333587 0.01104820 -0.01828352
+v 0.03498965 0.00713816 -0.01851692
+v 0.03496962 0.00513860 -0.01824110
+v 0.04091255 0.00513860 -0.01937890
+v 0.04091255 0.00518278 -0.01938155
+v 0.04091255 0.00713816 -0.01941337
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+v 0.03344048 0.01253719 -0.01847977
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+v 0.03512765 0.00513860 -0.01830210
+v 0.03696395 0.00513860 -0.01896781
+v 0.03898277 0.00513860 -0.01928872
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+v 0.03893825 0.00713816 -0.01935767
+v 0.03893825 0.00909282 -0.01941071
+v 0.03743582 0.01253719 -0.01941600
+v 0.03498965 0.01253719 -0.01906060
+v 0.03498965 0.01104820 -0.01894392
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+v 0.03696395 0.00909282 -0.01924362
+v 0.03696395 0.01253719 -0.01938682
+v 0.03546152 0.01253719 -0.01915343
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_31.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c4a52545c85abfaecbf29cf4af0afe7cf5e6a99
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_31.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04433586 0.00587638 -0.01937655
+v 0.04433586 0.00765837 -0.01940222
+v 0.04439951 0.00587638 -0.01937655
+v 0.04433586 0.00587629 0.00633080
+v 0.04433586 0.01104985 -0.01945100
+v 0.04486108 0.00587638 -0.01937141
+v 0.04486108 0.01104985 -0.01944586
+v 0.04711427 0.00587629 0.00657732
+v 0.04711427 0.02081050 0.00674430
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+v 0.04683466 0.01300434 -0.01945099
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+v 0.04683466 0.00587638 -0.01933803
+v 0.04711427 0.01104985 -0.01942018
+v 0.04711427 0.00587638 -0.01933033
+v 0.04711427 0.02081059 -0.01946380
+v 0.04433586 0.02081059 -0.01948434
+v 0.04683466 0.01495883 -0.01946639
+v 0.04711427 0.01495883 -0.01946383
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+v 0.04486108 0.01495883 -0.01947923
+v 0.04711427 0.02054892 -0.01946636
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+v 0.04433586 0.01886926 -0.01948949
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+v 0.04711427 0.01886926 -0.01947151
+v 0.04683466 0.01691478 -0.01947409
+v 0.04486108 0.01691478 -0.01948436
+v 0.04433586 0.01691478 -0.01948693
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_32.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b2f73dd5948590ad02d0d374ca5a762759931a6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_32.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02300044 -0.02194732 -0.01330351
+v 0.01005555 -0.02194733 -0.01031722
+v 0.01005555 -0.00778252 -0.00945695
+v 0.02300044 -0.00778251 -0.01133801
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+v 0.01005555 -0.01241823 0.01355949
+v 0.01206267 -0.00778260 0.01390795
+v 0.01005555 -0.01365653 0.01369015
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_33.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddfb51ae77c8aac3d42a6d74f1482c9fa62762ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_33.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01005555 -0.02194740 -0.01031762
+v 0.00194809 -0.02194740 -0.00980479
+v 0.00194809 -0.00840012 -0.00921898
+v 0.01005555 -0.00840012 -0.00947305
+v 0.01005555 -0.02194748 0.01223752
+v 0.00194809 -0.02194746 0.00647876
+v 0.00194809 -0.00840017 0.00580601
+v 0.01005555 -0.00840018 0.00788321
+v 0.01005555 -0.02193157 0.01226104
+v 0.00194809 -0.02044355 0.01166588
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+v 0.01005555 -0.00914287 0.01179766
+v 0.00194809 -0.02022737 0.01196700
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+v 0.00194809 -0.01961202 0.01282328
+v 0.00194809 -0.01241863 0.01317382
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+v 0.00194809 -0.01437347 0.01347493
+v 0.01005555 -0.01365599 0.01369135
+v 0.01005555 -0.01437347 0.01371488
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+f 23 26 24
+f 24 26 25
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_34.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75bf83471aba081429d996eb0025536d0595ec6f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_34.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00194809 0.00322675 0.01328103
+v -0.00373592 0.00322675 0.01363142
+v -0.00373592 0.00303934 0.01362918
+v 0.00194809 0.00303934 0.01327430
+v 0.00194809 0.00355261 0.01318221
+v -0.00373592 0.00495275 0.01323388
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+v 0.00194809 0.00448243 0.01289921
+v -0.00373592 0.00573089 0.01166612
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+v 0.00194809 0.00713753 -0.00916396
+v 0.00194809 0.00713868 0.00584880
+v -0.00373592 0.00713868 0.00662369
+v 0.00194809 0.00713873 -0.00916396
+f 1 2 3
+f 1 3 4
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+f 1 5 6
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+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 14 13
+f 11 13 15
+f 11 15 12
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_35.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b69023396dcfbfe490b25b35178c4c38eed4a5f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_35.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.04390011 -0.00420793 0.00730013
+v 0.04032443 -0.00420793 0.00743730
+v 0.03755473 -0.00799888 0.00743729
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+v 0.02300248 -0.02194878 0.00648760
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+v 0.04091152 -0.02194869 -0.01950335
+v 0.04390011 -0.02023816 -0.01948751
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+v 0.04390011 -0.01632739 -0.01948487
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+v 0.03498957 -0.02194869 -0.01928441
+v 0.03498957 -0.02023816 -0.01919207
+v 0.03498957 -0.01828278 -0.01906282
+v 0.03498957 -0.01632739 -0.01890717
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_36.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..728d48bf9e1e8f4f6398565dd4c3478850874d09
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_36.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.03698946 0.00580929 -0.01933178
+v -0.03698946 0.00713798 -0.01937842
+v -0.03606670 0.00713798 -0.01935509
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+v -0.03698946 0.00580920 0.00656843
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+v -0.03409298 0.00909338 -0.01931511
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+v -0.03644947 0.00580918 0.01166650
+v -0.03698946 0.02369317 0.00637523
+v -0.03698946 0.01104879 -0.01945838
+v -0.03606670 0.01104879 -0.01945505
+v -0.03409298 0.01300419 -0.01945170
+v -0.03212019 0.01495959 -0.01940506
+v -0.03212019 0.01300419 -0.01933508
+v -0.03212019 0.01104879 -0.01922513
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+v -0.03212019 0.00713798 -0.01881197
+v -0.03212019 0.00580929 -0.01860205
+v -0.03638396 0.00580918 0.01188975
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+v -0.03621925 0.02369315 0.01166657
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+v -0.03606670 0.01300419 -0.01948169
+v -0.03409298 0.01495959 -0.01948169
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_37.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe8dbfbd46702ef4e4762128398336e720dcaa62
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_37.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02591113 0.02451600 0.00660483
+v 0.02740020 0.02451598 0.01147403
+v 0.03911494 0.02451600 0.00660483
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+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 9
+f 3 11 12
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 11
+f 4 12 11
+f 4 11 5
+f 5 11 16
+f 5 16 15
+f 5 15 14
+f 5 14 20
+f 5 20 25
+f 5 25 27
+f 5 27 23
+f 5 23 18
+f 5 18 10
+f 5 10 8
+f 5 8 7
+f 5 7 6
+f 9 10 17
+f 10 18 17
+f 13 19 14
+f 14 19 21
+f 14 21 20
+f 17 18 22
+f 18 23 24
+f 18 24 22
+f 20 21 26
+f 20 26 25
+f 23 27 24
+f 24 27 28
+f 25 26 28
+f 25 28 27
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_38.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e5b6a66950f9291b6b6fdb5d476d738acfc8fb5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_38.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02545023 -0.02273654 -0.01871157
+v -0.02545023 -0.00866755 -0.01820745
+v -0.02501718 -0.00866755 -0.01807198
+v -0.02493671 -0.00866755 -0.01804678
+v -0.02432367 -0.02273654 -0.01830201
+v -0.02545023 -0.02273663 0.00638811
+v -0.02545023 -0.00866764 0.00601640
+v -0.02485518 -0.00866755 -0.01800582
+v -0.02400814 -0.02273654 -0.01814764
+v -0.01754309 -0.02273666 0.01227631
+v -0.02545023 -0.02057590 0.01163361
+v -0.02545023 -0.01132971 0.01238976
+v -0.01739804 -0.00866767 0.01255990
+v -0.02387897 -0.01046199 -0.01757107
+v -0.02338451 -0.02273654 -0.01783259
+v -0.02394991 -0.00866756 -0.01752695
+v -0.01695863 -0.02273666 0.01269217
+v -0.01652347 -0.02273666 0.01294105
+v -0.02545023 -0.02027017 0.01206209
+v -0.02545023 -0.01167675 0.01276152
+v -0.02521306 -0.01144126 0.01261975
+v -0.01730486 -0.00866767 0.01261346
+v -0.01463456 -0.00866758 -0.01162930
+v -0.01463456 -0.02271315 -0.01226259
+v -0.01463456 -0.02273656 -0.01226259
+v -0.02545023 -0.01962154 0.01283080
+v -0.01502208 -0.02273666 0.01314268
+v -0.02545023 -0.01198110 0.01294739
+v -0.01633606 -0.00866767 0.01281509
+v -0.01463456 -0.00866767 0.01298521
+v -0.01463456 -0.02273666 0.01318679
+v -0.02545023 -0.01828295 0.01303558
+v -0.02545023 -0.01228407 0.01311751
+v -0.02545023 -0.01363368 0.01336009
+v -0.02545023 -0.01437321 0.01347351
+v -0.02224947 -0.01437321 0.01346406
+v -0.02027586 -0.01437321 0.01345776
+v -0.01830331 -0.01437321 0.01340420
+v -0.01463456 -0.01074029 0.01302616
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 25
+f 1 25 31
+f 1 31 27
+f 1 27 18
+f 1 18 17
+f 1 17 10
+f 1 10 6
+f 1 6 11
+f 1 11 19
+f 1 19 26
+f 1 26 32
+f 1 32 35
+f 1 35 34
+f 1 34 33
+f 1 33 28
+f 1 28 20
+f 1 20 12
+f 1 12 7
+f 1 7 2
+f 2 7 13
+f 2 13 22
+f 2 22 29
+f 2 29 30
+f 2 30 23
+f 2 23 16
+f 2 16 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 7 12 13
+f 8 14 15
+f 8 15 9
+f 8 16 14
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 16 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 18 26 19
+f 18 27 26
+f 20 28 29
+f 20 29 22
+f 20 22 21
+f 23 30 39
+f 23 39 31
+f 23 31 25
+f 23 25 24
+f 26 27 31
+f 26 31 32
+f 28 33 29
+f 29 33 30
+f 30 33 34
+f 30 34 35
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 31 39 38
+f 31 38 37
+f 31 37 36
+f 31 36 35
+f 31 35 32
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_39.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434dc87c85511ac41a4121494c0a737ba45ca2a1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_39.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.04433363 0.02451780 0.00649418
+v 0.03911632 0.02451780 0.00660158
+v 0.03779418 0.01253827 0.00660154
+v 0.04433363 0.01253827 0.00579608
+v 0.04433363 0.02451789 -0.01946183
+v 0.02591277 0.02451780 0.00660158
+v 0.02698338 0.01253827 0.00660154
+v 0.04433363 0.01253836 -0.01946698
+v 0.04433363 0.02324312 -0.01947206
+v 0.04113291 0.02451789 -0.01949251
+v 0.02159690 0.02451780 0.00633821
+v 0.02159690 0.01253827 0.00581143
+v 0.04288685 0.01253836 -0.01947721
+v 0.04433363 0.01300511 -0.01947210
+v 0.04433363 0.02278106 -0.01947463
+v 0.04433363 0.02134563 -0.01948230
+v 0.03915860 0.02451789 -0.01950786
+v 0.02159690 0.02451787 -0.01358842
+v 0.02159690 0.01253833 -0.01157867
+v 0.04091255 0.01253836 -0.01948488
+v 0.04288685 0.01300511 -0.01948233
+v 0.04433363 0.01496007 -0.01948233
+v 0.04433363 0.01939068 -0.01948742
+v 0.04288685 0.01886998 -0.01949765
+v 0.03696395 0.02451789 -0.01951808
+v 0.02955866 0.02451789 -0.01819612
+v 0.03197812 0.01375684 -0.01795324
+v 0.03214283 0.01253836 -0.01784585
+v 0.04091255 0.01300511 -0.01948744
+v 0.03941012 0.01253836 -0.01947721
+v 0.03893825 0.01300511 -0.01947977
+v 0.03893825 0.01496007 -0.01949767
+v 0.04288685 0.01496007 -0.01949255
+v 0.04433363 0.01548076 -0.01948487
+v 0.04433363 0.01691620 -0.01948743
+v 0.04091255 0.01691620 -0.01950533
+v 0.03893825 0.02082611 -0.01951298
+v 0.03521223 0.02451789 -0.01949507
+v 0.03893825 0.01886998 -0.01951299
+v 0.03696395 0.02278106 -0.01951554
+v 0.02969666 0.02451789 -0.01825749
+v 0.03301757 0.01496007 -0.01860016
+v 0.03300867 0.01253836 -0.01830867
+v 0.03183344 0.01496007 -0.01804530
+v 0.04091255 0.01496007 -0.01949767
+v 0.03893825 0.01253836 -0.01947466
+v 0.03696395 0.01691620 -0.01947976
+v 0.03696395 0.01886998 -0.01949765
+v 0.03893825 0.01691620 -0.01950789
+v 0.03498965 0.02451789 -0.01948740
+v 0.03696395 0.02082611 -0.01950787
+v 0.03104550 0.02451789 -0.01882258
+v 0.03344048 0.01253836 -0.01847999
+v 0.03301757 0.01691620 -0.01880216
+v 0.03498965 0.01253836 -0.01906042
+v 0.03743582 0.01253836 -0.01941584
+v 0.03696395 0.01496007 -0.01944909
+v 0.03498965 0.02278106 -0.01946440
+v 0.03323793 0.02451789 -0.01934165
+v 0.03126586 0.02451789 -0.01888906
+v 0.03301757 0.01886998 -0.01897091
+v 0.03498965 0.01300511 -0.01909622
+v 0.03546152 0.01253836 -0.01915503
+v 0.03696395 0.01253836 -0.01938772
+v 0.03696395 0.01300511 -0.01940306
+v 0.03498965 0.02082611 -0.01942604
+v 0.03498965 0.01886998 -0.01937491
+v 0.03301757 0.02451789 -0.01931352
+v 0.03301757 0.02082611 -0.01910897
+v 0.03301757 0.02278106 -0.01922660
+v 0.03498965 0.01496007 -0.01921640
+v 0.03498965 0.01691620 -0.01930844
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 22
+f 1 22 34
+f 1 34 35
+f 1 35 23
+f 1 23 16
+f 1 16 15
+f 1 15 9
+f 1 9 5
+f 1 5 10
+f 1 10 17
+f 1 17 25
+f 1 25 38
+f 1 38 50
+f 1 50 59
+f 1 59 68
+f 1 68 60
+f 1 60 52
+f 1 52 41
+f 1 41 26
+f 1 26 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 19
+f 3 19 28
+f 3 28 43
+f 3 43 53
+f 3 53 55
+f 3 55 63
+f 3 63 64
+f 3 64 56
+f 3 56 46
+f 3 46 30
+f 3 30 20
+f 3 20 13
+f 3 13 8
+f 3 8 4
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 8 13 21
+f 8 21 14
+f 9 15 10
+f 10 16 17
+f 10 15 16
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 14 21 33
+f 14 33 22
+f 16 23 17
+f 17 24 25
+f 17 23 24
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 20 29 21
+f 20 30 31
+f 20 31 32
+f 20 32 29
+f 21 29 45
+f 21 45 33
+f 22 33 34
+f 23 35 24
+f 24 36 39
+f 24 39 37
+f 24 37 25
+f 24 35 33
+f 24 33 36
+f 25 37 39
+f 25 39 40
+f 25 40 38
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 43
+f 27 43 28
+f 29 32 45
+f 30 46 31
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 48 51
+f 32 51 49
+f 32 49 45
+f 33 35 34
+f 33 45 36
+f 36 45 49
+f 36 49 39
+f 38 40 51
+f 38 51 48
+f 38 48 47
+f 38 47 50
+f 39 49 40
+f 40 49 51
+f 41 52 42
+f 42 53 43
+f 42 52 54
+f 42 54 55
+f 42 55 53
+f 46 56 57
+f 46 57 47
+f 47 57 58
+f 47 58 50
+f 50 58 59
+f 52 60 61
+f 52 61 55
+f 52 55 54
+f 55 61 62
+f 55 62 63
+f 56 64 65
+f 56 65 57
+f 57 65 66
+f 57 66 58
+f 58 66 59
+f 59 66 67
+f 59 67 68
+f 60 69 61
+f 60 68 70
+f 60 70 69
+f 61 69 62
+f 62 69 71
+f 62 71 63
+f 63 71 64
+f 64 71 72
+f 64 72 67
+f 64 67 65
+f 65 67 66
+f 67 72 68
+f 68 72 71
+f 68 71 70
+f 69 70 71
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_4.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..022474a1edea28b6f6470c6141f4193ec39c7362
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_4.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.00734348 0.00513850 0.00857500
+v 0.00194809 0.00513850 0.00784676
+v 0.00734348 0.00513856 -0.00922369
+v 0.00734348 0.02451780 0.00633318
+v 0.00725898 0.02451780 0.00633318
+v 0.00194809 0.02451780 0.00632581
+v 0.00194809 0.00513856 -0.00912598
+v 0.00734348 0.00514046 -0.00923107
+v 0.00734348 0.02451786 -0.01025976
+v 0.00194809 0.02451786 -0.00996478
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 7
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 4 6 5
+f 7 10 9
+f 7 9 8
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_40.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a5f8043fe82d2f8bbbcfac6b5e12efc4a1d2b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_40.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00373592 0.00713873 -0.00931320
+v -0.00373592 0.02369323 -0.01003641
+v 0.00194809 0.02369323 -0.00988843
+v 0.00194809 0.00713873 -0.00916356
+v -0.00373592 0.00713868 0.00662529
+v -0.00373592 0.02369316 0.00694957
+v 0.00194809 0.02369317 0.00607500
+v 0.00194809 0.00713868 0.00584882
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 6
+f 6 8 7
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_41.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e921218d8236b5de9697051879be6986e77d40
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_41.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00228676 -0.00841352 -0.00934215
+v 0.00194809 -0.00841352 -0.00921812
+v -0.00228676 -0.00841357 0.00605618
+v -0.00228676 0.00303902 -0.00918706
+v 0.00194809 0.00303902 -0.00910290
+v 0.00194809 -0.00841357 0.00580589
+v 0.00194809 -0.00213690 0.01284502
+v -0.00228676 -0.00319067 0.01172647
+v -0.00228676 0.00303894 0.01328581
+v 0.00194809 0.00303894 0.01327474
+v 0.00194809 -0.00068515 0.01305102
+v -0.00228676 -0.00068515 0.01309532
+v -0.00228676 -0.00213466 0.01285609
+v -0.00228676 0.00147173 0.01325480
+v 0.00194809 0.00126994 0.01321050
+v 0.00194809 -0.00017732 0.01309310
+v -0.00228676 -0.00046207 0.01311525
+v -0.00228676 0.00126994 0.01324593
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 13
+f 1 13 12
+f 1 12 17
+f 1 17 18
+f 1 18 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 16
+f 2 16 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 14 18 15
+f 15 17 16
+f 15 18 17
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_42.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05d7bb67f0af6d0b000bdb207851c1a1cae1161d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_42.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.04369519 -0.02470551 0.00747053
+v 0.03624515 -0.02194908 0.01279571
+v 0.03771001 -0.02470661 0.01304913
+v 0.04369519 -0.02470659 0.00746066
+v 0.04369519 -0.02194905 0.00581506
+v 0.03514793 -0.02194908 0.01296686
+v 0.03498982 -0.02470661 0.01409573
+v 0.03691567 -0.02470661 0.01369421
+v 0.04369519 -0.02470649 -0.01946800
+v 0.04369519 -0.02194896 -0.01948445
+v 0.03498982 -0.02194908 0.01298990
+v 0.03301826 -0.02470661 0.01410890
+v 0.04344755 -0.02470649 -0.01947129
+v 0.04369519 -0.02415013 -0.01947458
+v 0.04369519 -0.02219488 -0.01948445
+v 0.04288561 -0.02194896 -0.01949103
+v 0.03301826 -0.02194908 0.01300306
+v 0.03104479 -0.02470661 0.01410561
+v 0.03104479 -0.02194908 0.01301623
+v 0.04288561 -0.02470649 -0.01947787
+v 0.04288561 -0.02415013 -0.01948446
+v 0.04369519 -0.02299744 -0.01948115
+v 0.04091214 -0.02415013 -0.01950091
+v 0.04288561 -0.02219488 -0.01949103
+v 0.03893867 -0.02415013 -0.01951408
+v 0.04091214 -0.02194896 -0.01950090
+v 0.03000852 -0.02470661 0.01407269
+v 0.02953040 -0.02194908 0.01283192
+v 0.04091214 -0.02470649 -0.01949762
+v 0.03950061 -0.02470649 -0.01950749
+v 0.03893867 -0.02470649 -0.01951079
+v 0.03696520 -0.02470649 -0.01950420
+v 0.03893867 -0.02194896 -0.01950748
+v 0.02907703 -0.02470661 0.01394763
+v 0.02796648 -0.02470661 0.01354610
+v 0.02857605 -0.02194907 0.01211444
+v 0.03498982 -0.02470649 -0.01940218
+v 0.03696520 -0.02415013 -0.01950091
+v 0.03696520 -0.02194896 -0.01947128
+v 0.02752645 -0.02470661 0.01317749
+v 0.02756264 -0.02194907 0.01119619
+v 0.03301826 -0.02470649 -0.01905002
+v 0.03498982 -0.02415013 -0.01938572
+v 0.03498982 -0.02219488 -0.01930014
+v 0.03498982 -0.02194896 -0.01928697
+v 0.02423670 -0.02194905 0.00648976
+v 0.02423670 -0.02470658 0.00631203
+v 0.03112098 -0.02470649 -0.01834570
+v 0.03301826 -0.02415013 -0.01900065
+v 0.03301826 -0.02219488 -0.01880646
+v 0.03301826 -0.02194896 -0.01877684
+v 0.02423670 -0.02194898 -0.01378737
+v 0.02423670 -0.02470651 -0.01439954
+v 0.03015520 -0.02470649 -0.01785860
+v 0.03155530 -0.02219488 -0.01818442
+v 0.03159149 -0.02194896 -0.01816467
+v 0.02423670 -0.02406133 -0.01426789
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 22
+f 1 22 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 10
+f 2 10 16
+f 2 16 26
+f 2 26 33
+f 2 33 39
+f 2 39 45
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_43.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbf446892cabb3e516d359335ec5fbdf780df019
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_43.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02300044 -0.00778251 -0.01134047
+v 0.02300044 0.00513857 -0.01122403
+v 0.02300044 -0.00778257 0.00581098
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_44.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33fd8a83a19536a3d2117529806c8a355acd4d93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_44.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_45.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfc4a7decfb40ccd8b541b08e5d1eaa65a2bf7c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_45.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_46.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a925444cf6fcb226c40d48467c714e0cb453a89
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_46.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00725026 -0.00839879 -0.00930991
+v 0.00194862 -0.00839879 -0.00921922
+v 0.00735451 -0.00839614 -0.00931433
+v 0.00735451 -0.00839879 -0.00918826
+v 0.00194862 0.00513724 -0.00912627
+v 0.00735451 0.00513724 -0.00923023
+v 0.00194862 -0.00839884 0.00580602
+v 0.00735451 -0.00839884 0.00582151
+v 0.00194862 0.00513718 0.00784984
+v 0.00735451 0.00513718 0.00858197
+v 0.00194862 -0.00213577 0.01284422
+v 0.00735451 -0.00213710 0.01284422
+v 0.00194862 0.00510138 0.00975869
+v 0.00735451 0.00511861 0.00975869
+v 0.00735451 -0.00068728 0.01305878
+v 0.00194862 -0.00068463 0.01305215
+v 0.00194862 0.00493175 0.01166754
+v 0.00735451 0.00494236 0.01166754
+v 0.00735451 0.00126745 0.01321583
+v 0.00194862 0.00127010 0.01321140
+v 0.00194862 0.00448116 0.01289955
+v 0.00735451 0.00448381 0.01289512
+v 0.00735451 0.00322218 0.01327998
+v 0.00538320 0.00322616 0.01328219
+v 0.00194862 0.00322616 0.01327998
+v 0.00538320 0.00448249 0.01289734
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 11
+f 2 11 16
+f 2 16 20
+f 2 20 25
+f 2 25 21
+f 2 21 17
+f 2 17 13
+f 2 13 9
+f 2 9 5
+f 3 6 10
+f 3 10 14
+f 3 14 18
+f 3 18 22
+f 3 22 23
+f 3 23 19
+f 3 19 15
+f 3 15 12
+f 3 12 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 7 8 11
+f 8 12 11
+f 9 13 14
+f 9 14 10
+f 11 12 15
+f 11 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 25 24
+f 21 24 26
+f 21 26 22
+f 22 26 24
+f 22 24 23
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_47.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b59b19aed0a724279b568af67a0f6e815adc15b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_47.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02040766 -0.00866757 -0.01497190
+v -0.02040766 -0.00850027 -0.01496084
+v -0.01463513 -0.00654994 -0.01149487
+v -0.01463513 -0.00850601 -0.01162202
+v -0.01463513 -0.00866758 -0.01162755
+v -0.02040766 -0.00866764 0.00589298
+v -0.02040766 -0.00655566 -0.01474248
+v -0.01463513 -0.00459502 -0.01133180
+v -0.01463513 -0.00866767 0.01298522
+v -0.01739792 -0.00866767 0.01255957
+v -0.02040766 -0.00212797 0.01283599
+v -0.02040766 -0.00459501 -0.01442187
+v -0.01463513 0.00303903 -0.01045284
+v -0.01463513 -0.00264812 -0.01110791
+v -0.01463513 0.00127080 0.01302118
+v -0.01830265 0.00303894 0.01321743
+v -0.02027599 0.00303894 0.01326165
+v -0.02040766 0.00303894 0.01326441
+v -0.02040766 0.00127080 0.01320083
+v -0.01513016 -0.00866767 0.01293547
+v -0.01730468 -0.00866767 0.01261485
+v -0.02040766 -0.00068527 0.01304053
+v -0.02040766 -0.00264009 -0.01390500
+v -0.02040766 0.00303903 -0.01202828
+v -0.01463513 0.00303894 0.01302395
+v -0.01633552 -0.00866767 0.01281385
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 20
+f 1 20 26
+f 1 26 21
+f 1 21 10
+f 1 10 6
+f 1 6 11
+f 1 11 22
+f 1 22 19
+f 1 19 18
+f 1 18 24
+f 1 24 23
+f 1 23 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 14
+f 3 14 13
+f 3 13 25
+f 3 25 15
+f 3 15 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 10 21 11
+f 11 21 22
+f 12 23 13
+f 13 23 24
+f 13 24 18
+f 13 18 17
+f 13 17 16
+f 13 16 25
+f 15 25 16
+f 19 22 26
+f 19 26 20
+f 21 26 22
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_48.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c343f9c60ca5865e733ff18c77e1f956e5e7b1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_48.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02159690 0.00512956 0.00760995
+v 0.02159690 0.00512956 0.01300575
+v 0.02159690 0.00612957 0.00760995
+v 0.02159690 0.00612957 0.01300575
+v 0.04433363 0.00512956 0.00760995
+v 0.04433363 0.00512956 0.01300575
+v 0.04433363 0.00612957 0.00760995
+v 0.04433363 0.00612957 0.01300575
+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/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_49.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..942c3e5a23583e7f123a4da3300dd6521391d968
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_49.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.04198883 -0.00812110 -0.01942561
+v -0.04001538 -0.00812110 -0.01942241
+v -0.04214316 -0.00812110 -0.01942241
+v -0.04214316 0.00303906 -0.01936795
+v -0.04179963 0.00303906 -0.01936795
+v -0.03843037 -0.00812110 -0.01941601
+v -0.04001538 0.00303906 -0.01936155
+v -0.04214316 -0.00812119 0.00581448
+v -0.04214316 0.00303894 0.01325371
+v -0.03804795 -0.00811564 -0.01941281
+v -0.03804795 -0.00812110 -0.01840448
+v -0.03804795 0.00303906 -0.01931994
+v -0.03804795 -0.00812119 0.00586570
+v -0.03804795 -0.00322499 0.01169799
+v -0.04214316 -0.00221123 0.01275113
+v -0.04214316 0.00290020 0.01325051
+v -0.04198883 0.00303894 0.01325691
+v -0.03804795 0.00303894 0.01327612
+v -0.03804795 -0.00316709 0.01176201
+v -0.04214316 -0.00213476 0.01284076
+v -0.04214316 0.00127031 0.01319608
+v -0.03804795 0.00126376 0.01321849
+v -0.03804795 -0.00214569 0.01284716
+v -0.03804795 -0.00068949 0.01306804
+v -0.04214316 -0.00079764 0.01303283
+v -0.04214316 0.00111737 0.01318648
+v -0.04214316 -0.00068512 0.01304883
+f 1 2 6
+f 1 6 11
+f 1 11 13
+f 1 13 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 15
+f 3 15 20
+f 3 20 25
+f 3 25 27
+f 3 27 26
+f 3 26 21
+f 3 21 16
+f 3 16 9
+f 3 9 4
+f 4 9 17
+f 4 17 18
+f 4 18 12
+f 4 12 7
+f 4 7 5
+f 6 7 10
+f 6 10 11
+f 7 12 10
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 10 12 18
+f 10 18 22
+f 10 22 24
+f 10 24 23
+f 10 23 19
+f 10 19 14
+f 10 14 13
+f 10 13 11
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 21 22
+f 17 22 18
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 21 26 22
+f 22 26 27
+f 22 27 24
+f 24 27 25
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_5.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33370bd93ba5ebbfe91467ec06691816e92f6b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_5.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02159551 0.00513857 -0.01088667
+v 0.00735883 0.00513856 -0.00922937
+v 0.00734488 0.00514046 -0.00922937
+v 0.02159551 0.02451787 -0.01358956
+v 0.02159551 0.00513850 0.00883738
+v 0.00734488 0.00513856 -0.00922374
+v 0.00734488 0.02451786 -0.01025807
+v 0.02159551 0.02451780 0.00633741
+v 0.02067886 0.00513849 0.01166718
+v 0.00734488 0.00513850 0.00857243
+v 0.00734488 0.02451780 0.00633178
+v 0.01890974 0.02451777 0.01342319
+v 0.01777264 0.02451777 0.01449141
+v 0.01908274 0.00513848 0.01307644
+v 0.00742022 0.00513849 0.00975903
+v 0.00793505 0.00513849 0.01166718
+v 0.01044223 0.02451777 0.01368249
+v 0.01722572 0.02451777 0.01477890
+v 0.01828468 0.00513848 0.01347949
+v 0.00846383 0.00513849 0.01214632
+v 0.01120262 0.02451777 0.01442094
+v 0.01645138 0.02451776 0.01502693
+v 0.01722572 0.00513848 0.01400091
+v 0.00954093 0.00513848 0.01292706
+v 0.01126261 0.00513848 0.01378389
+v 0.01328008 0.02451776 0.01520168
+v 0.01525290 0.02451776 0.01520449
+v 0.01525290 0.00513848 0.01450261
+v 0.01323543 0.00513848 0.01448852
+v 0.01328008 0.00513848 0.01449979
+v 0.01520826 0.00513848 0.01450261
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 14
+f 1 14 19
+f 1 19 23
+f 1 23 28
+f 1 28 31
+f 1 31 30
+f 1 30 29
+f 1 29 25
+f 1 25 24
+f 1 24 20
+f 1 20 16
+f 1 16 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 3 7 4
+f 4 7 11
+f 4 11 17
+f 4 17 21
+f 4 21 26
+f 4 26 27
+f 4 27 22
+f 4 22 18
+f 4 18 13
+f 4 13 12
+f 4 12 8
+f 5 8 9
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 22 27 28
+f 22 28 23
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 26 31 27
+f 27 31 28
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_50.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff4f08f1d97226003c3ad18ea0e1760982103054
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_50.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.02545129 -0.00866755 -0.01820850
+v -0.02545129 -0.00850598 -0.01820233
+v -0.02501782 -0.00866755 -0.01807287
+v -0.02545129 -0.00866764 0.00601588
+v -0.02545129 -0.00668398 -0.01807594
+v -0.02507904 -0.00689598 -0.01798040
+v -0.02494327 -0.00850598 -0.01804205
+v -0.02493685 -0.00866755 -0.01804513
+v -0.02040766 -0.00866764 0.00589258
+v -0.02040766 -0.00212797 0.01283719
+v -0.02545129 -0.00212911 0.01284952
+v -0.02545129 -0.00582226 -0.01800505
+v -0.02521777 -0.00559308 -0.01791566
+v -0.02434244 -0.00636658 -0.01751803
+v -0.02395637 -0.00850599 -0.01752421
+v -0.02485539 -0.00866755 -0.01800506
+v -0.02040766 -0.00866757 -0.01496892
+v -0.02040766 -0.00068527 0.01304064
+v -0.02545129 -0.00068527 0.01307454
+v -0.02545129 -0.00540744 -0.01795573
+v -0.02545129 -0.00473479 -0.01783552
+v -0.02422396 -0.00459500 -0.01716048
+v -0.02285197 -0.00459500 -0.01630050
+v -0.02263671 -0.00654992 -0.01646386
+v -0.02249552 -0.00850599 -0.01656867
+v -0.02249008 -0.00866756 -0.01657484
+v -0.02383048 -0.00866756 -0.01745023
+v -0.02394995 -0.00866756 -0.01752729
+v -0.02140691 -0.00866756 -0.01574260
+v -0.02040766 -0.00863319 -0.01496892
+v -0.02040766 0.00127080 0.01320092
+v -0.02545129 0.00005499 0.01313311
+v -0.02545129 -0.00459499 -0.01780161
+v -0.02418495 -0.00265497 -0.01652550
+v -0.02306821 -0.00331502 -0.01613404
+v -0.02040766 -0.00459501 -0.01442333
+v -0.02041260 -0.00654993 -0.01474698
+v -0.02040766 -0.00655566 -0.01474390
+v -0.02040766 -0.00658087 -0.01474698
+v -0.02150861 -0.00850599 -0.01581349
+v -0.02240862 -0.00866756 -0.01651319
+v -0.02040766 -0.00850027 -0.01496276
+v -0.02040766 0.00292091 0.01325950
+v -0.02545129 0.00200991 0.01325641
+v -0.02545129 0.00127080 0.01322866
+v -0.02545129 -0.00266873 -0.01712348
+v -0.02481689 -0.00139218 -0.01622959
+v -0.02040766 0.00303903 -0.01202830
+v -0.02040766 -0.00264009 -0.01390240
+v -0.02040766 0.00303894 0.01326258
+v -0.02244022 0.00303894 0.01327491
+v -0.02545129 0.00303894 0.01328107
+v -0.02545129 0.00303904 -0.01419829
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 27
+f 1 27 26
+f 1 26 41
+f 1 41 29
+f 1 29 17
+f 1 17 9
+f 1 9 4
+f 1 4 11
+f 1 11 19
+f 1 19 32
+f 1 32 45
+f 1 45 44
+f 1 44 52
+f 1 52 53
+f 1 53 46
+f 1 46 33
+f 1 33 21
+f 1 21 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 9 17 30
+f 9 30 42
+f 9 42 39
+f 9 39 38
+f 9 38 36
+f 9 36 49
+f 9 49 48
+f 9 48 50
+f 9 50 43
+f 9 43 31
+f 9 31 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 17 29 30
+f 18 31 19
+f 19 31 32
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 26
+f 29 41 40
+f 29 40 42
+f 29 42 30
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 35 48 49
+f 35 49 36
+f 36 38 37
+f 39 42 40
+f 43 50 51
+f 43 51 44
+f 44 51 52
+f 46 53 47
+f 47 53 48
+f 48 53 52
+f 48 52 51
+f 48 51 50
+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_6.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10621cd17ac83d6fc3fbfec7282508108fcfd9e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_6.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.01963323 -0.03001807 0.02187041
+v 0.01722524 -0.03197190 0.02183878
+v 0.01963323 -0.03197190 0.02183527
+v 0.01963323 -0.02806160 0.02183529
+v 0.01920045 -0.02806160 0.02183529
+v 0.00194982 -0.03001807 0.02186690
+v 0.00194982 -0.03197190 0.02183878
+v 0.00194982 -0.03392705 0.02165258
+v 0.01963323 -0.03392705 0.02164555
+v 0.01963323 -0.03349826 0.02168771
+v 0.01963323 -0.02628479 0.02102724
+v 0.01920045 -0.02628479 0.02102724
+v 0.00194982 -0.02628741 0.02102373
+v 0.00194982 -0.02760133 0.02162098
+v 0.00194982 -0.02806160 0.02182826
+v 0.00194982 -0.03537604 0.02112207
+v 0.01963323 -0.03545472 0.02108693
+v 0.01963323 -0.02543243 0.01930224
+v 0.01920045 -0.02543243 0.01930224
+v 0.00194982 -0.02543505 0.01930224
+v 0.00194982 -0.03588220 0.02093586
+v 0.00341089 -0.03588220 0.02093586
+v 0.01963323 -0.03588220 0.02092884
+v 0.01722524 -0.02523048 0.01621409
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_7.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caaf32def585683c555ede3e963f4283d22d57b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_7.obj
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_8.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba3629a6cd9eda8b863178bc8dd4c762006083ee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_8.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_9.obj b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..918db71fe1732840ba5a087ffab04e37137b51c1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/mesh/soap_dish_039_collision_9.obj
@@ -0,0 +1,790 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/soap_dish_039.xml b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/soap_dish_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aaa5b35204f0e18186183dfb6b26c1f8562d80ab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mjcf/soap_dish_039.xml
@@ -0,0 +1,116 @@
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+    <mesh name="collision_mesh_0_29" file="mesh/soap_dish_039_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/soap_dish_039_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/soap_dish_039_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/soap_dish_039_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/soap_dish_039_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/soap_dish_039_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/soap_dish_039_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/soap_dish_039_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/soap_dish_039_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/soap_dish_039_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/soap_dish_039_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/soap_dish_039_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/soap_dish_039_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/soap_dish_039_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/soap_dish_039_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/soap_dish_039_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/soap_dish_039_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/soap_dish_039_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/soap_dish_039_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/soap_dish_039_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/soap_dish_039_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/soap_dish_039_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_039">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" 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/34c1e24fcd9550aca944d9a66a3c8046/soap_dish_039.urdf b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/soap_dish_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0dd99f2316f6baa48123c9e76a52f47baa9ee90a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/soap_dish_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_039">
+   <link name="soap_dish_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_039.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>34c1e24fcd9550aca944d9a66a3c8046</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>wooden soap dish</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rectangular wooden soap dish with recessed tray and drainage grid</description>
+         <min_height>0.0412</min_height>
+         <max_height>0.0412</max_height>
+         <real_height>0.0412</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170601</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059545 -0.038461 -0.019375</min>
+            <max>0.060455 0.039061 0.021826</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/34c1e24fcd9550aca944d9a66a3c8046/soap_dish_039.usd b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/soap_dish_039.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/soap_dish_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:057ccae40e6f392bfac10ecba14c53bfc41c0ca3688919a91fa2a088c341b45d
+size 4806739
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/textures/material_0.png b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/textures/material_0.png
@@ -0,0 +1,3 @@
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+size 11786461
diff --git a/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/video.mp4 b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/video.mp4
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f211f15326d2aee86a8711114aae3a5683262cb9ac76a576b488842467df091b
+size 336139