diff --git a/.gitattributes b/.gitattributes
index 2b2ec0ea923de6d92f5eb87e1558a5f76880aec8..28aa1ec89a2786f0d007cfd00918155bbb7dbb8d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5203,5 +5203,5 @@ dataset/bathroom_supplies/bath_products/34b0e64c365955829652aa4c50b9ca79/mesh/fa
 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
-dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/shampoo_bottle_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/sponge_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a85f6e6719d39ccd19258820eaf8f0ad976c361
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_035_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd sponge_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bc088b9fd06901547d122f9185cee21e48fcca9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:347b930d2a3f32e36c74cb5913ce899496745926f7327e669ac12f83f3098011
+size 22211407
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.glb b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..05ace65a3cc24cc8155825f5720e989d0c8c0684
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ebe587fc7b5280605c68594af70ab41227ae62088f2b9455e60539d22a0602
+size 25771060
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.mtl b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b5e07a07a6dcd2cbeafba769ccac6c0ee8b8f14
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_035_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/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83dcc70cce97b0b3469d78f01c0ed12701ef7c63
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.obj
@@ -0,0 +1,120628 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_035_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035_collision.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09b0c9a2f92c807cdace96872247afd261e2c1e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035_collision.obj
@@ -0,0 +1,14965 @@
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bc088b9fd06901547d122f9185cee21e48fcca9
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035.obj
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d22c5ae489b49be3d7952d2f0278d8c325a2922e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision.obj
@@ -0,0 +1,14965 @@
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_0.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..438b8a0baff056bbaedccf59416505b848d66cd9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_0.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.01433365 -0.01712826 -0.00139818
+v 0.01396438 -0.01711729 -0.00035495
+v 0.01396438 -0.01712128 -0.00139818
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_1.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b199f4a5dbbf7f2e63d175788dda5d82dcb2280a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_1.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_10.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a10c69a11cfb220e0ce54e85e3992bf1c8832972
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_10.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_11.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c092410e99fe040a83d3bfc7e054be45414ccec6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_11.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_12.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14005b5ece441f634a43c1ad2c12253d890e1fae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_12.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_13.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c271aa081f127f34f8f37f950c82574ccfb826
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_13.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_14.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1076c0f1dd18847a9a845819f1d7756d85614bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_14.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_15.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57c002c28bfb94cdade3590b050772482115c998
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_15.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_16.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9715fc1da7a3b311b3d13c515188a6c84b94308e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_16.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+f 13 24 14
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+f 34 40 41
+f 34 41 42
+f 34 42 35
+f 36 44 55
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+f 60 67 61
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+f 61 66 65
+f 61 65 64
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_17.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff61d8176a842988944c172c63351f42f69ccf5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_17.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.02097440 -0.00216108 0.00108084
+v 0.02097440 -0.00216104 -0.01183515
+v 0.01781384 -0.00216108 0.00108084
+v 0.02097440 -0.01482668 0.00108080
+v 0.02097440 -0.00289670 -0.01191572
+v 0.02078290 -0.00216104 -0.01188375
+v 0.01781384 -0.00216104 -0.01188119
+v 0.01781384 -0.01494398 0.00108080
+v 0.02097440 -0.01668756 -0.00224189
+v 0.02022912 -0.00216104 -0.01195537
+v 0.02097440 -0.00376849 -0.01193874
+v 0.01863337 -0.00216104 -0.01197455
+v 0.01781384 -0.00270844 -0.01190166
+v 0.01781384 -0.01660212 -0.00242350
+v 0.02097440 -0.01677300 -0.00244524
+v 0.01970814 -0.00216104 -0.01198351
+v 0.02078290 -0.00376849 -0.01194898
+v 0.02097440 -0.00695010 -0.01196434
+v 0.01781384 -0.01119176 -0.01197203
+v 0.01781384 -0.01682658 -0.00349141
+v 0.01970814 -0.01695112 -0.00349141
+v 0.02097440 -0.01692506 -0.00330468
+v 0.02078290 -0.00695010 -0.01197330
+v 0.02078290 -0.00907166 -0.01197202
+v 0.01863337 -0.01013026 -0.01197458
+v 0.02097440 -0.00925992 -0.01196179
+v 0.01781384 -0.01437337 -0.01196308
+v 0.01781384 -0.01690767 -0.00429714
+v 0.01863337 -0.01695546 -0.00557992
+v 0.02097440 -0.01693085 -0.00349141
+v 0.01781384 -0.01692070 -0.00450561
+v 0.02078290 -0.01013026 -0.01196435
+v 0.02097440 -0.01013026 -0.01195540
+v 0.01863337 -0.01437337 -0.01193495
+v 0.01781384 -0.01462535 -0.01194390
+v 0.01781384 -0.01691054 -0.00975948
+v 0.02097440 -0.01692215 -0.00453630
+v 0.02097440 -0.01031997 -0.01195156
+v 0.01863337 -0.01543342 -0.01185311
+v 0.02097440 -0.01119176 -0.01192215
+v 0.02097440 -0.01138002 -0.01191575
+v 0.02097440 -0.01244008 -0.01185437
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+v 0.01781384 -0.01543342 -0.01185694
+v 0.01781384 -0.01675125 -0.01080438
+v 0.01863337 -0.01672084 -0.01080438
+v 0.01970814 -0.01648623 -0.01080438
+v 0.02097440 -0.01611406 -0.01070973
+v 0.01970814 -0.01543342 -0.01172265
+v 0.01970814 -0.01616474 -0.01148477
+v 0.01863337 -0.01624294 -0.01153977
+v 0.01781384 -0.01562603 -0.01178276
+v 0.02097440 -0.01437337 -0.01167276
+v 0.01781384 -0.01624294 -0.01153337
+v 0.02038412 -0.01604599 -0.01139525
+v 0.02097440 -0.01587221 -0.01097064
+v 0.02097440 -0.01533784 -0.01146303
+v 0.02097440 -0.01560575 -0.01123026
+v 0.02097440 -0.01544211 -0.01137862
+f 1 2 6
+f 1 6 10
+f 1 10 16
+f 1 16 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 30
+f 1 30 37
+f 1 37 48
+f 1 48 56
+f 1 56 58
+f 1 58 59
+f 1 59 57
+f 1 57 53
+f 1 53 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 38
+f 1 38 33
+f 1 33 26
+f 1 26 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
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+f 11 17 16
+f 11 18 17
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+f 14 20 21
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+f 15 21 22
+f 16 17 23
+f 16 23 24
+f 16 24 25
+f 16 25 19
+f 17 18 23
+f 18 26 24
+f 18 24 23
+f 19 25 27
+f 20 28 21
+f 21 29 30
+f 21 30 22
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+f 27 34 35
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+f 29 37 30
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+f 37 47 48
+f 39 49 50
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+f 39 51 52
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+f 43 53 49
+f 45 51 46
+f 45 54 51
+f 46 51 50
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+f 47 50 55
+f 47 55 48
+f 48 55 56
+f 49 53 57
+f 49 57 55
+f 49 55 50
+f 51 54 52
+f 55 58 56
+f 55 57 59
+f 55 59 58
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_18.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed31cae2a61e049600e8857f239fa507b0cdede5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_18.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00033072 0.00416918 0.01151874
+v -0.00033072 0.00468243 0.01138440
+v -0.00396425 0.00785608 0.01151180
+v -0.00450774 0.00785608 0.01158360
+v -0.00450774 0.00471635 0.01160676
+v -0.00450774 0.00416918 0.01151642
+v -0.00033072 0.00416926 -0.01024706
+v -0.00033072 0.00499860 0.01118288
+v -0.00033072 0.00549596 0.01086324
+v -0.00033072 0.00785609 0.00934611
+v -0.00450774 0.00785616 -0.01205604
+v -0.00450774 0.00416926 -0.01113650
+v -0.00033072 0.00532388 -0.01125463
+v -0.00033072 0.00785616 -0.01193096
+v -0.00281959 0.00785616 -0.01204214
+v -0.00033072 0.00634098 -0.01173873
+v -0.00033072 0.00564114 -0.01148162
+v -0.00033072 0.00553827 -0.01140982
+v -0.00033072 0.00751761 -0.01195413
+v -0.00067342 0.00785616 -0.01196802
+v -0.00175550 0.00785616 -0.01202593
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 7
+f 1 7 13
+f 1 13 18
+f 1 18 17
+f 1 17 16
+f 1 16 19
+f 1 19 14
+f 1 14 10
+f 1 10 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 14
+f 3 14 20
+f 3 20 21
+f 3 21 15
+f 3 15 11
+f 3 11 4
+f 4 11 12
+f 4 12 6
+f 4 6 5
+f 7 12 13
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 15 21 19
+f 15 19 16
+f 19 21 20
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_19.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27903d5eed5864e1eeef974878babc8c8f9ff815
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_19.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.01971450 -0.00220075 -0.00407746
+v -0.01971450 -0.00220072 -0.01203804
+v -0.02425019 -0.00220075 -0.00407746
+v -0.01971450 -0.01403522 -0.00407750
+v -0.02006439 -0.00220072 -0.01216057
+v -0.01971450 -0.00941615 -0.01220009
+v -0.02425019 -0.00220072 -0.01216057
+v -0.02425019 -0.01742455 -0.00407751
+v -0.01998402 -0.01445527 -0.00407750
+v -0.01971450 -0.01442178 -0.00422583
+v -0.02113937 -0.00270751 -0.01225408
+v -0.02113937 -0.00220072 -0.01224521
+v -0.01971450 -0.01437305 -0.01226944
+v -0.02221390 -0.00220072 -0.01224844
+v -0.02425019 -0.00588985 -0.01229601
+v -0.02425019 -0.01773653 -0.00651527
+v -0.02389320 -0.01746716 -0.00407751
+v -0.01971450 -0.01545364 -0.00465874
+v -0.02137026 -0.01643834 -0.00407751
+v -0.02221390 -0.01331227 -0.01231297
+v -0.02165310 -0.00220071 -0.01225972
+v -0.01971450 -0.01471854 -0.01222994
+v -0.02328888 -0.01543384 -0.01219206
+v -0.02113937 -0.01437305 -0.01228475
+v -0.02425019 -0.01130333 -0.01230490
+v -0.02425019 -0.01774870 -0.00662571
+v -0.02328888 -0.01748238 -0.00407751
+v -0.02158073 -0.01673663 -0.00407751
+v -0.01971450 -0.01656160 -0.00515532
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+v -0.01971450 -0.01736212 -0.01080470
+v -0.01971450 -0.01758432 -0.00975995
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+f 1 7 3
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+f 1 8 17
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+f 54 57 55
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_2.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff31b60cf1d68671b9e659a44fcc7236e28d830
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_2.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.02610616 -0.01675772 0.00800373
+v 0.02615837 -0.01675693 0.00800373
+v 0.02610616 -0.01673641 0.01009379
+v 0.02610616 -0.01675140 0.00695928
+v 0.02615837 -0.01675456 0.00695928
+v 0.02938204 -0.01672926 0.00108207
+v 0.03045745 -0.01666849 0.00904933
+v 0.02615837 -0.01673562 0.01009379
+v 0.02610616 -0.01662901 0.01113938
+v 0.02610616 -0.01674825 0.00690916
+v 0.02871159 -0.01672295 0.00108207
+v 0.03045745 -0.01663371 0.00108207
+v 0.03163919 -0.01624285 0.00912564
+v 0.03148192 -0.01625708 0.01009379
+v 0.03045745 -0.01660611 0.01009379
+v 0.02938204 -0.01666850 0.01009379
+v 0.02615837 -0.01662744 0.01113938
+v 0.02938204 -0.01618917 0.01195832
+v 0.02610616 -0.01626892 0.01191162
+v 0.02610616 -0.01619781 0.00108207
+v 0.02661935 -0.01631942 0.00108207
+v 0.02763682 -0.01654922 0.00108207
+v 0.02830791 -0.01666056 0.00108207
+v 0.03083757 -0.01649078 0.00108207
+v 0.03207151 -0.01596647 0.00843883
+v 0.03207151 -0.01596647 0.00882836
+v 0.03206897 -0.01596331 0.00952543
+v 0.03144563 -0.01625625 0.00108207
+v 0.03201930 -0.01590804 0.01009379
+v 0.03131064 -0.01613705 0.01113938
+v 0.03045745 -0.01640238 0.01113938
+v 0.02938204 -0.01652715 0.01113938
+v 0.02830791 -0.01619706 0.01197085
+v 0.02615837 -0.01624918 0.01195148
+v 0.03045745 -0.01611967 0.01187403
+v 0.03045745 -0.01543346 0.01236266
+v 0.02935148 -0.01534896 0.01251187
+v 0.02610616 -0.01624918 0.01195148
+v 0.02610616 -0.00869195 0.00108210
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_20.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d101da7d4d0743f929234d116ca7ce09c0acf48a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_20.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_21.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e385a687781d2942933abe58cafcd6977acb54
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_21.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_22.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41c00461135ae647ceb68aed4b64d150925f453
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_22.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_23.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ef1c00c4b6fd47030b89ac363c39bdd92cb79ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_23.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_24.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2764c5c365effd60556ed5b141388b94a0e03c04
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_24.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_25.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8997f2c1481b6274ad87c819b7a1752eb6a2dfa7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_25.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_26.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a0c793f347feb6e37df4d06cc3d07ec120c194b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_26.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_27.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a8680e050248b2d0d943968444063099c465ad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_27.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_28.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa220362d87a80d1605994a94d15836b48d88aa7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_28.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_29.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d682f2d15fbf9ea392ba4466b83b18550f8426a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_29.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_3.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58cbd60752339d37f54b5543d85e4e139da38aeb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_3.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_30.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec99272c37c0f613dbc3cc313c284991b29a0f35
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_30.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_31.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae258e91f86f1162cb3feebfb27f14e2b696e93e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_31.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_32.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef9aacb0fbfbe6e0e2598664c33da303036900a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_32.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_33.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a3dc18750876915e5864ad121c6c960373ce933
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_33.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v 0.02938218 0.00466568 0.01248924
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_34.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e6313313be4bf0e8df1f3e5029005a4e792d18
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_34.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.00033072 0.00416679 -0.01024733
+v -0.00450774 0.00416675 0.00114594
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+v -0.00071554 -0.01118982 -0.01211941
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+v -0.00033072 -0.01519424 -0.01142912
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_35.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c20c49bb222469da685fa4330006a2cef9ef500
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_35.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00941305 0.00410410 0.01245058
+v 0.00941305 0.00471446 0.01244898
+v 0.00573409 -0.01437344 0.01242655
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+v 0.00941305 0.00789706 0.01234356
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+v 0.00788362 0.00577618 0.01229882
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+v 0.00788362 0.00789707 0.01216305
+v 0.00941305 0.00895879 0.01222855
+v 0.00895862 0.00895879 0.01218062
+v 0.00468594 0.00895879 0.01148574
+v 0.00468594 0.00474268 0.01185633
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_36.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a52c8b37ba5c10f20f1cf8b75b09a0abce824b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_36.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.01003392 0.00471472 0.01248182
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_37.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab07cdfb04b663ca0281fba5d4b6825666fe2fb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_37.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_38.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a1282a5f4f179229cf770bf56de9e41c8ce751
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_38.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_39.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1b20eed54154dd7f5b9bf62895b005596d968a0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_39.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.02185838 0.00815302 -0.01193567
+v 0.02078350 0.00815302 -0.01192802
+v 0.02185838 0.00895895 -0.01194843
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+v 0.02037012 0.00815298 0.00108216
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+v 0.02504687 0.01006218 -0.01150960
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_4.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5e8b15fce5b1c23223d50fc4f131eeb76a049f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_4.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00941352 0.00895879 0.01222899
+v 0.00941352 0.01470920 0.01194064
+v 0.00895856 0.01426091 0.01195325
+v -0.00033031 0.01430810 0.01173895
+v -0.00033031 0.01347092 0.01173422
+v -0.00033031 0.01315769 0.01173107
+v 0.00895856 0.00895879 0.01218014
+v 0.00941352 0.00895884 -0.00386730
+v 0.00941352 0.01529335 0.01184768
+v 0.00066830 0.01491341 0.01169168
+v -0.00033031 0.01451800 0.01169010
+v -0.00033031 0.01266629 0.01166489
+v 0.00504425 0.00931758 0.01171687
+v 0.00467513 0.00895879 0.01148366
+v -0.00033031 0.00895884 -0.00386730
+v 0.00941352 0.01712152 -0.00386727
+v 0.00941352 0.01591818 0.01171059
+v 0.00143514 0.01547152 0.01153096
+v -0.00033031 0.01529254 0.01150260
+v -0.00033031 0.01217570 0.01146003
+v -0.00033031 0.01120916 0.01090379
+v 0.00358496 0.00895879 0.01102039
+v -0.00033031 0.01700111 -0.00386727
+v -0.00033031 0.00895880 0.00932961
+v 0.00895856 0.01712884 -0.00386727
+v 0.00941352 0.01714349 -0.00348909
+v 0.00941352 0.01592550 0.01170272
+v 0.00143514 0.01621433 0.01100939
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+v -0.00033031 0.01558624 0.01132296
+v -0.00033031 0.01702469 0.00136107
+v 0.00036023 0.01705561 -0.00035492
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_40.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5989d9fac6cdf64a4e70347ac8b9d0580a2f8590
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_40.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02097441 -0.01693226 -0.00349054
+v 0.02185818 -0.01691885 -0.00349054
+v 0.02504648 -0.01676690 -0.00035573
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+v 0.02504648 -0.01686788 -0.00770435
+v 0.02504648 -0.01676779 -0.00039148
+v 0.02504648 -0.01689558 -0.00975889
+v 0.02504648 -0.01657204 0.00068878
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_41.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..436579748002963a111d19470d10f36dc715147a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_41.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00941396 0.00526312 -0.00655742
+v 0.01396394 0.00526312 -0.00655742
+v 0.00941396 0.00526311 -0.00396791
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+v 0.01396394 0.00526311 -0.00396791
+v 0.01396394 0.01591619 -0.00655738
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+v 0.00941396 0.01709896 -0.00453521
+v 0.01003405 0.01711984 -0.00396787
+v 0.01003405 0.01708619 -0.00453521
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+v 0.00976944 0.01696432 -0.00655738
+v 0.01396394 0.01667065 -0.00396787
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+f 3 9 7
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_42.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5063becf3110525c0605da0184c466199bd631b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_42.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_43.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81a8679d93574b9f18acc3817194220866b953ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_43.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_44.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91ffebcc2274285d332b92dd49c63b3faaeb8faf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_44.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_45.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed309280e33178a7b6938bbd2f441e988de00695
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_45.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_46.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95cf1d0f35aa77b07e4bceb47af2146de1e4f549
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_46.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_47.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a144aeae4603dc2d7c8ca4858bf7b6204f618941
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_47.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_48.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b18fac4c9dbd2e980a21ce8234e9277d6dc01b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_48.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_49.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a697bdb4d300f2c41841c60b682ead5b02be881
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_49.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_5.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d3b9a863c7f6a349c161f6789e93566b12854c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_5.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_50.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a29fd86c34dbd37b94ed2c6ecb4a5a5f9e4ba6ee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_50.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_51.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a29bb130be63d9787de635aa35a1b77bea6bab0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_51.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_52.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0247574e56d4c4830fd798dfd401cd4f162466d3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_52.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02504687 0.00815298 0.00108089
+v 0.01781455 0.00815298 0.00108089
+v 0.02504687 0.00325004 0.00108087
+v 0.02504687 0.00815302 -0.00984796
+v 0.01781455 0.00325004 0.00108087
+v 0.01781455 0.00815302 -0.01157141
+v 0.02504687 0.00325008 -0.01182147
+v 0.02504687 0.00646512 -0.01140048
+v 0.02429426 0.00815302 -0.01095908
+v 0.01781455 0.00325008 -0.01049092
+v 0.01969219 0.00815302 -0.01184314
+v 0.01781455 0.00789770 -0.01171047
+v 0.02400751 0.00325008 -0.01184826
+v 0.02504687 0.00365610 -0.01190056
+v 0.02504687 0.00607110 -0.01155994
+v 0.02383193 0.00815302 -0.01153952
+v 0.01781455 0.00575483 -0.01165690
+v 0.02096590 0.00325008 -0.01155358
+v 0.02078324 0.00815302 -0.01192861
+v 0.01970848 0.00789770 -0.01191075
+v 0.01781455 0.00683706 -0.01195030
+v 0.02293276 0.00325008 -0.01186739
+v 0.02400751 0.00365610 -0.01191077
+v 0.02293276 0.00577642 -0.01192607
+v 0.02185800 0.00815302 -0.01193499
+v 0.02504687 0.00369162 -0.01189929
+v 0.02504687 0.00594152 -0.01160970
+v 0.02293276 0.00815302 -0.01185589
+v 0.02185800 0.00325008 -0.01182402
+v 0.02078324 0.00789770 -0.01194009
+v 0.02267433 0.00815302 -0.01187503
+v 0.02504687 0.00475226 -0.01186101
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 26
+f 1 26 32
+f 1 32 27
+f 1 27 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 28
+f 1 28 31
+f 1 31 25
+f 1 25 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 21
+f 2 21 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 18
+f 3 18 29
+f 3 29 22
+f 3 22 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 13 22 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 22 23
+f 15 27 16
+f 16 27 28
+f 17 21 29
+f 17 29 18
+f 19 25 30
+f 19 30 21
+f 19 21 20
+f 21 30 24
+f 21 24 23
+f 21 23 22
+f 21 22 29
+f 24 30 25
+f 25 31 32
+f 25 32 26
+f 27 32 28
+f 28 32 31
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_53.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f43179891295972d39a7a8ff084616103f6086a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_53.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00941396 0.01699877 -0.00655817
+v 0.00976944 0.01696399 -0.00655817
+v 0.01396394 0.01698023 -0.00801301
+v 0.01396394 0.01710543 -0.00871531
+v 0.00941396 0.01701037 -0.00708196
+v 0.00941396 0.00526312 -0.00655821
+v 0.01396394 0.01591598 -0.00655817
+v 0.01218342 0.01702661 -0.00955872
+v 0.01218342 0.01708225 -0.00871531
+v 0.01396394 0.01702313 -0.00964958
+v 0.01105193 0.01703588 -0.00876662
+v 0.00941396 0.01696864 -0.00772386
+v 0.00941396 0.00526314 -0.00999115
+v 0.01396394 0.00526312 -0.00655821
+v 0.01137267 0.01698835 -0.00947801
+v 0.01218342 0.01681446 -0.01008143
+v 0.01396394 0.01677156 -0.01007769
+v 0.01023228 0.01698139 -0.00845289
+v 0.00941396 0.01691879 -0.00808196
+v 0.01149027 0.00526314 -0.01144866
+v 0.00941396 0.00811735 -0.01148393
+v 0.01396394 0.00526314 -0.01130489
+v 0.00941396 0.01690603 -0.00816160
+v 0.01105193 0.01672403 -0.00979976
+v 0.01396394 0.01651652 -0.01046679
+v 0.01178472 0.01588238 -0.01135402
+v 0.01156867 0.01588238 -0.01135402
+v 0.01218342 0.00526314 -0.01174583
+v 0.00941396 0.00869237 -0.01168061
+v 0.00941396 0.00895901 -0.01176827
+v 0.01324941 0.00526314 -0.01163252
+v 0.01396394 0.00573498 -0.01160419
+v 0.00941396 0.01688169 -0.00820596
+v 0.01116998 0.01612815 -0.01079549
+v 0.01396394 0.01630900 -0.01072334
+v 0.01396394 0.01548010 -0.01147107
+v 0.01396394 0.01529693 -0.01161110
+v 0.01215936 0.01539199 -0.01158171
+v 0.01116998 0.01532591 -0.01153788
+v 0.01045724 0.01497580 -0.01144648
+v 0.01085237 0.01568298 -0.01113756
+v 0.01325832 0.00683748 -0.01192220
+v 0.01396394 0.00683748 -0.01189494
+v 0.00941396 0.01001977 -0.01193982
+v 0.01048753 0.01596817 -0.01044113
+v 0.00941396 0.01650839 -0.00869928
+v 0.01396394 0.01426051 -0.01197188
+v 0.01218342 0.01426051 -0.01199380
+v 0.01110895 0.01426051 -0.01190668
+v 0.00941396 0.01411792 -0.01068219
+v 0.00941396 0.01557051 -0.00952237
+v 0.00941396 0.01214014 -0.01185110
+v 0.00941396 0.01302817 -0.01154698
+v 0.01325832 0.00789824 -0.01199542
+v 0.01396394 0.00789824 -0.01198794
+v 0.00941396 0.01108054 -0.01200182
+v 0.01325832 0.01319975 -0.01200876
+v 0.01218342 0.01319975 -0.01201785
+v 0.01110895 0.01319975 -0.01199380
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 19
+f 1 19 23
+f 1 23 33
+f 1 33 46
+f 1 46 51
+f 1 51 50
+f 1 50 53
+f 1 53 52
+f 1 52 56
+f 1 56 44
+f 1 44 30
+f 1 30 29
+f 1 29 21
+f 1 21 13
+f 1 13 6
+f 1 6 14
+f 1 14 7
+f 1 7 2
+f 2 7 3
+f 3 7 14
+f 3 14 22
+f 3 22 32
+f 3 32 43
+f 3 43 55
+f 3 55 47
+f 3 47 37
+f 3 37 36
+f 3 36 35
+f 3 35 25
+f 3 25 17
+f 3 17 10
+f 3 10 4
+f 4 8 9
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+f 4 10 8
+f 5 9 11
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+f 6 13 20
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+f 6 22 14
+f 8 15 11
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+f 8 10 16
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+f 10 17 16
+f 11 15 18
+f 11 18 12
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+f 13 21 20
+f 15 23 19
+f 15 19 18
+f 15 16 24
+f 15 24 23
+f 16 17 25
+f 16 25 26
+f 16 26 27
+f 16 27 24
+f 20 21 29
+f 20 29 30
+f 20 30 28
+f 22 31 32
+f 23 24 33
+f 24 27 34
+f 24 34 33
+f 25 35 26
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+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 34
+f 28 42 43
+f 28 43 31
+f 28 30 44
+f 28 44 42
+f 31 43 32
+f 33 34 45
+f 33 45 46
+f 34 41 45
+f 37 47 48
+f 37 48 38
+f 38 48 39
+f 39 48 49
+f 39 49 40
+f 40 50 51
+f 40 51 46
+f 40 46 45
+f 40 45 41
+f 40 49 52
+f 40 52 53
+f 40 53 50
+f 42 54 55
+f 42 55 43
+f 42 44 54
+f 44 56 54
+f 47 55 57
+f 47 57 48
+f 48 57 58
+f 48 58 59
+f 48 59 49
+f 49 59 56
+f 49 56 52
+f 54 56 58
+f 54 58 57
+f 54 57 55
+f 56 59 58
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_54.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b331cf746dd7d2fb017738b4e309564d55b6f2e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_54.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02328926 -0.01770236 0.00069045
+v -0.02247158 -0.01769780 0.00069045
+v -0.02425064 -0.01769631 0.00591459
+v -0.02425064 -0.01757944 0.00069046
+v -0.02425064 -0.01742464 -0.00407751
+v -0.02389326 -0.01746713 -0.00407751
+v -0.02328926 -0.01748230 -0.00407751
+v -0.02247158 -0.01727440 -0.00407751
+v -0.02247158 -0.01767355 0.00904938
+v -0.02425064 -0.01763865 0.00904938
+v -0.02425064 -0.00220226 -0.00407746
+v -0.02247158 -0.00220226 -0.00407746
+v -0.02247158 -0.01761135 0.00984355
+v -0.02425064 -0.01733971 0.01014715
+v -0.02425064 -0.00220231 0.01065272
+v -0.02247158 -0.00220230 0.00767946
+v -0.02247158 -0.01754002 0.01010528
+v -0.02247158 -0.01725321 0.01083812
+v -0.02425064 -0.01698005 0.01059434
+v -0.02425064 -0.00588992 0.01096379
+v -0.02247158 -0.00802661 0.01120158
+v -0.02247158 -0.00695068 0.01105501
+v -0.02410695 -0.00220231 0.01059738
+v -0.02348589 -0.00220231 0.01002905
+v -0.02247158 -0.00618736 0.01073945
+v -0.02247158 -0.01671448 0.01101759
+v -0.02425064 -0.01652783 0.01088299
+v -0.02425064 -0.01532139 0.01113126
+v -0.02425064 -0.01543368 0.01112976
+v -0.02247158 -0.01650203 0.01107592
+v -0.02372031 -0.00220231 0.01031621
+v -0.02395578 -0.00220231 0.01053157
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 12
+f 2 12 16
+f 2 16 25
+f 2 25 22
+f 2 22 21
+f 2 21 30
+f 2 30 26
+f 2 26 18
+f 2 18 17
+f 2 17 13
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+f 11 16 12
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+f 15 22 23
+f 16 24 25
+f 18 26 27
+f 18 27 19
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 22 25 31
+f 22 31 32
+f 22 32 23
+f 24 31 25
+f 26 30 27
+f 27 30 29
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_55.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22eac9a696c25fb0c2f4db3937e2a5f4946da0b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_55.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01396458 -0.00692824 -0.01126405
+v 0.01396458 -0.00376704 -0.01189738
+v 0.01598307 -0.00376704 -0.01173964
+v 0.01598307 -0.00437961 -0.01141939
+v 0.01598307 -0.00692825 -0.00903656
+v 0.01396458 -0.00692833 0.01225849
+v 0.01396458 -0.00058617 -0.01195473
+v 0.01540844 -0.00058617 -0.01193800
+v 0.01540844 -0.00270628 -0.01189977
+v 0.01598307 -0.00270628 -0.01188543
+v 0.01598307 -0.00692832 0.01209119
+v 0.01540844 -0.00692833 0.01226805
+v 0.01396458 -0.00625254 0.01227762
+v 0.01396458 0.00742501 -0.01194036
+v 0.01481308 0.00742501 -0.01195709
+v 0.01598307 0.00683633 -0.01193558
+v 0.01598307 -0.00058617 -0.01192127
+v 0.01598307 -0.00647873 0.01215812
+v 0.01543453 -0.00692833 0.01226327
+v 0.01598307 -0.00532104 0.01229674
+v 0.01540844 -0.00482789 0.01232064
+v 0.01433370 -0.00482789 0.01231347
+v 0.01396458 0.00116996 0.01244255
+v 0.01396458 0.00742494 0.00920889
+v 0.01598307 0.00711030 -0.01192124
+v 0.01588782 0.00742501 -0.01190212
+v 0.01598307 0.00733088 -0.01190929
+v 0.01598307 -0.00482789 0.01230869
+v 0.01598307 0.00153385 0.01244973
+v 0.01540844 0.00153385 0.01245929
+v 0.01433370 0.00153385 0.01244973
+v 0.01396458 0.00153385 0.01244017
+v 0.01396458 0.00483977 0.01173751
+v 0.01581432 0.00742493 0.01074328
+v 0.01598307 0.00742501 -0.01189017
+v 0.01598307 0.00210146 0.01244973
+v 0.01598307 0.00259461 0.01243300
+v 0.01540844 0.00259461 0.01242583
+v 0.01396458 0.00223072 0.01238998
+v 0.01598307 0.00742493 0.01086039
+v 0.01396458 0.00369893 0.01207689
+v 0.01598307 0.00316082 0.01234935
+v 0.01598307 0.00433117 0.01196457
+v 0.01396458 0.00259461 0.01236369
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 12
+f 1 12 6
+f 1 6 13
+f 1 13 23
+f 1 23 32
+f 1 32 39
+f 1 39 44
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+f 1 41 33
+f 1 33 24
+f 1 24 14
+f 1 14 7
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+f 14 35 26
+f 14 26 15
+f 15 25 16
+f 15 26 27
+f 15 27 25
+f 18 20 19
+f 20 28 21
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+f 21 29 30
+f 21 30 23
+f 21 23 22
+f 23 30 31
+f 23 31 32
+f 24 33 34
+f 26 35 27
+f 29 36 30
+f 30 36 31
+f 31 36 37
+f 31 37 38
+f 31 38 32
+f 32 38 39
+f 33 40 34
+f 33 41 42
+f 33 42 43
+f 33 43 40
+f 37 42 38
+f 38 44 39
+f 38 42 44
+f 41 44 42
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_56.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..927c46e46ea89ac41f6f7e4bb8ecab752998a80e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_56.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00895877 0.01712958 -0.00386885
+v 0.00788404 0.01706011 -0.00662560
+v 0.00788404 0.01708682 -0.00386885
+v 0.00941333 0.01712156 -0.00386885
+v 0.00895877 0.01704408 -0.00662560
+v 0.00788404 0.01701470 -0.00767022
+v 0.00752117 0.01702004 -0.00767022
+v 0.00752117 0.01703607 -0.00662159
+v 0.00752117 0.01704408 -0.00453798
+v 0.00752117 0.01703071 -0.00386885
+v 0.00941333 0.01700935 -0.00708212
+v 0.00941333 -0.01016839 -0.00386895
+v 0.00941333 0.01696927 -0.00772397
+v 0.00752117 0.01695057 -0.00830405
+v 0.00752117 -0.01016839 -0.00386895
+v 0.00941333 -0.01016836 -0.01152143
+v 0.00941333 0.01691850 -0.00808181
+v 0.00941333 0.01690514 -0.00816124
+v 0.00941333 0.01688109 -0.00820536
+v 0.00752117 0.01608215 -0.00954443
+v 0.00752117 -0.01016837 -0.00911128
+v 0.00935146 -0.01016836 -0.01149175
+v 0.00752117 -0.00694850 -0.01189450
+v 0.00941333 -0.00739741 -0.01196029
+v 0.00941333 0.01650700 -0.00869879
+v 0.00752117 0.01559316 -0.00999774
+v 0.00934720 -0.01016836 -0.01148934
+v 0.00752117 -0.00768332 -0.01152383
+v 0.00752117 -0.00744818 -0.01164498
+v 0.00752117 -0.00588769 -0.01203088
+v 0.00788404 -0.00588769 -0.01206538
+v 0.00895877 -0.00694850 -0.01199399
+v 0.00941333 -0.00694850 -0.01199479
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+v 0.00941333 -0.00633660 -0.01203329
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+v 0.00941333 0.01107735 -0.01200194
+v 0.00941333 0.01213816 -0.01185111
+v 0.00752117 0.01316959 -0.01170267
+f 1 2 3
+f 1 3 10
+f 1 10 15
+f 1 15 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_57.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13176591cb1ef75b4a28ece5d8d2fea4ba474df4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_57.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.02036987 0.00815302 -0.01186171
+v 0.01969151 0.00815302 -0.01184389
+v 0.01781384 0.01294860 -0.01189735
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+v 0.02036987 0.00815298 0.00108089
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+v 0.01781384 0.00815302 -0.01157141
+v 0.02036987 0.01466790 -0.01189353
+v 0.01781384 0.01400844 -0.01187952
+v 0.02036987 0.01547769 0.00108092
+v 0.01781384 0.00815298 0.00108089
+v 0.01781384 0.01532102 -0.01184513
+v 0.02036987 0.01532102 -0.01185787
+v 0.01830778 0.01699862 0.00108092
+v 0.02036987 0.01647413 0.00051814
+v 0.01781384 0.01716711 0.00108092
+v 0.01781384 0.01615441 -0.01155483
+v 0.01863332 0.01618611 -0.01155992
+v 0.01970803 0.01622778 -0.01156374
+v 0.02036987 0.01566978 -0.01175091
+v 0.01817266 0.01708649 0.00108092
+v 0.02036987 0.01691075 0.00016672
+v 0.01781384 0.01729574 0.00044047
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+v 0.02036987 0.01622053 -0.01156374
+v 0.02036987 0.01740445 -0.00140065
+v 0.01970803 0.01740717 -0.00140065
+v 0.01863332 0.01736278 -0.00140065
+v 0.01781384 0.01731114 -0.00060359
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+v 0.01781384 0.01705573 -0.00991870
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+v 0.01970803 0.01723146 -0.00975955
+v 0.02036987 0.01724415 -0.00975955
+v 0.01781384 0.01721424 -0.00896249
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+f 8 9 12
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+f 17 26 18
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+f 26 34 35
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+f 29 38 39
+f 29 39 30
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+f 33 44 34
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_58.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f8059c426cba5d09aa201a67784b4564434b42
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_58.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01467200 0.01684486 0.00589815
+v -0.01468887 0.01684486 0.00589815
+v -0.01361457 0.01682804 0.00589815
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+v -0.01594108 0.01680001 0.00589815
+v -0.01039012 0.01694859 0.00277926
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+v -0.01249119 0.01692758 -0.00045803
+v -0.01307780 0.01691216 -0.00087597
+v -0.01253949 0.01658135 0.00589815
+v -0.00810808 0.01695981 0.00278736
+v -0.00810808 0.01661500 0.00389951
+v -0.00810808 0.01696123 -0.00152768
+v -0.00824074 0.01696123 -0.00139916
+v -0.01146519 0.01694441 -0.00139916
+v -0.01307780 0.01691216 -0.00088103
+v -0.01594108 0.01663464 -0.00244452
+v -0.01594108 0.00264319 0.00589810
+v -0.01252109 0.01657574 0.00589815
+v -0.00810808 0.01609637 0.00455628
+v -0.00810808 0.01695702 -0.00244452
+v -0.00824074 0.01695702 -0.00244452
+v -0.00931505 0.01694581 -0.00244452
+v -0.00810808 0.01693179 -0.00366597
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+v -0.01594108 0.01627442 -0.00444013
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+v -0.00810808 0.00264319 0.00589810
+v -0.01162622 0.01611459 0.00589815
+v -0.00810808 0.01432747 0.00586373
+v -0.00810808 0.01695562 -0.00257304
+v -0.01146519 0.01689955 -0.00259328
+v -0.00810808 0.01686873 -0.00444013
+v -0.00811422 0.01686873 -0.00444013
+v -0.00810808 0.00264323 -0.00444018
+v -0.00810808 0.01427841 0.00589814
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+f 31 33 32
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_59.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0ff60e2808cedb8300ced93132bee484f5e472
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_59.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.02830806 -0.00883875 -0.01176820
+v 0.02504687 -0.00482904 -0.01189003
+v 0.02723316 -0.00588863 -0.01187201
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+v 0.02504687 -0.00588863 -0.01173214
+v 0.02938226 -0.00146994 -0.01163048
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+v 0.02830806 -0.00376873 -0.01183739
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+v 0.02504687 -0.00479586 -0.01188066
+v 0.02824195 -0.00146994 -0.01155694
+v 0.02723316 -0.00482904 -0.01189869
+v 0.02830806 -0.00588863 -0.01185615
+v 0.02938226 -0.00883875 -0.01172350
+v 0.02751066 -0.00883875 -0.01151803
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_6.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0051ee50e39c80e4b7f83bdb953a88b0c4689d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_6.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.00143492 0.01704253 -0.00386885
+v -0.00033031 0.01700548 -0.00453512
+v -0.00033031 0.01699874 -0.00386885
+v 0.00182343 0.01702232 -0.00386885
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+v 0.00465871 0.01700548 -0.00558016
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+v -0.00033031 0.01694149 -0.00894140
+v -0.00033031 -0.01675171 -0.00386897
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+v 0.00572936 0.01694823 -0.00835024
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+v -0.00033031 -0.01716941 -0.00518617
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+v 0.00465871 -0.01730079 -0.00453524
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_60.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad4a7bb47e2850747454afdd177aa9958e9669d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_60.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_61.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86f798c299d357ff1cd46c305f251214b083926b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_61.obj
@@ -0,0 +1,208 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_62.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fbc6b59d1b3ba4cf63b7e488cbe07f2f3a052bf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_62.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.02247140 -0.01769858 0.00069015
+v -0.02247140 -0.01727532 -0.00407751
+v -0.02221396 -0.01760452 -0.00035385
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+v -0.02113910 -0.01768647 0.00800434
+v -0.02113910 -0.01768495 0.00904835
+v -0.02221396 -0.01768192 0.00904835
+v -0.02247140 -0.01767433 0.00904835
+v -0.02247140 -0.00220075 -0.00407746
+v -0.02228574 -0.01722829 -0.00407751
+v -0.01971450 -0.01747406 -0.00035385
+v -0.01971450 -0.01755446 0.00069016
+v -0.01971450 -0.01765310 0.00904835
+v -0.02006451 -0.01766220 0.00904835
+v -0.02113910 -0.01763945 0.01009388
+v -0.02247140 -0.01761063 0.00984423
+v -0.01971450 -0.00220075 -0.00407746
+v -0.02247140 -0.00220079 0.00768059
+v -0.02174817 -0.01696888 -0.00407751
+v -0.01971450 -0.01721010 -0.00117091
+v -0.01971450 -0.01730719 -0.00089251
+v -0.01971450 -0.01759242 0.01009388
+v -0.02006451 -0.01760456 0.01009388
+v -0.01971450 -0.01749382 0.01035110
+v -0.02113910 -0.01730874 0.01090489
+v -0.02221396 -0.01729054 0.01087614
+v -0.02221396 -0.01760001 0.01009388
+v -0.02247140 -0.01753933 0.01010599
+v -0.01971450 -0.01403498 -0.00407750
+v -0.01971450 -0.00220079 0.00926023
+v -0.02247140 -0.00618751 0.01073849
+v -0.02228412 -0.00220079 0.00787577
+v -0.02158032 -0.01673678 -0.00407751
+v -0.01971450 -0.01473129 -0.00369167
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+v -0.01971450 -0.01696281 -0.00152346
+v -0.01971450 -0.01727537 0.01088219
+v -0.02006451 -0.01649411 0.01127559
+v -0.02113910 -0.01649411 0.01128467
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+v -0.02247140 -0.01725413 0.01083831
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+v -0.01971450 -0.00650760 0.01090341
+v -0.02136983 -0.01643793 -0.00407751
+v -0.01971450 -0.01649411 0.01126500
+v -0.02006451 -0.01543371 0.01137999
+v -0.02221396 -0.00801096 0.01127108
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+v -0.02247140 -0.01671559 0.01101685
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+v -0.01971450 -0.00690051 0.01100175
+v -0.01971450 -0.01543371 0.01136032
+v -0.01971450 -0.00766660 0.01112431
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 8 16
+f 1 16 28
+f 1 28 43
+f 1 43 52
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+f 1 18 9
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_63.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dbf19b10f7d282ef2ccaeb90eef892da046f35e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_63.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00573409 -0.01722671 -0.00975946
+v 0.00572936 -0.01722597 -0.00975946
+v 0.00572936 -0.01722597 -0.00976267
+v 0.00572936 -0.01710782 -0.01050591
+v 0.00573409 -0.01710782 -0.01050591
+v 0.00680890 -0.01708124 -0.01045374
+v 0.00680890 -0.01718019 -0.00975946
+v 0.00573409 -0.01718537 -0.00871444
+v 0.00572936 -0.01718537 -0.00871444
+v 0.00572936 -0.01684790 -0.01103083
+v 0.00573409 -0.01685011 -0.01102842
+v 0.00680890 -0.01683904 -0.01097625
+v 0.00739752 -0.01704284 -0.01034538
+v 0.00752117 -0.01706647 -0.00999544
+v 0.00752117 -0.01709232 -0.00975946
+v 0.00752117 -0.01710488 -0.00906198
+v 0.00752117 -0.01707682 -0.00866147
+v 0.00572936 -0.01717651 -0.00863257
+v 0.00572936 -0.01631992 -0.01155976
+v 0.00573409 -0.01631992 -0.01155976
+v 0.00680890 -0.01630885 -0.01153809
+v 0.00752117 -0.01618553 -0.01146104
+v 0.00752117 -0.01670169 -0.01080689
+v 0.00752117 -0.01692322 -0.01046417
+v 0.00752117 -0.01700667 -0.00828262
+v 0.00572936 -0.01664559 -0.00453515
+v 0.00572936 -0.01675340 -0.00517083
+v 0.00572936 -0.01681173 -0.00558017
+v 0.00572936 -0.01708346 -0.00780667
+v 0.00572936 -0.01543381 -0.01191693
+v 0.00680890 -0.01543381 -0.01185031
+v 0.00752117 -0.01589016 -0.01156618
+v 0.00752117 -0.01696458 -0.00822002
+v 0.00572936 -0.01643072 -0.00386977
+v 0.00572936 -0.01646099 -0.00394040
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_64.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7011ea6c73e57283d0f5163d476d8d53cb7ac383
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_64.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02504754 -0.00146996 -0.00508946
+v 0.02504754 -0.00146998 0.00108212
+v 0.02504754 0.00397089 -0.00508944
+v 0.03034337 -0.00146996 -0.00508946
+v 0.02504754 0.00397087 0.00108214
+v 0.03182221 -0.00146998 0.00108212
+v 0.03150546 0.00397089 -0.00508944
+v 0.03121261 0.00060444 -0.00508945
+v 0.03125378 -0.00146997 -0.00336473
+v 0.02892428 0.00397087 0.00108214
+v 0.03183018 -0.00146998 -0.00035566
+v 0.03182885 -0.00058590 -0.00035565
+v 0.03181358 0.00047447 0.00068946
+v 0.03180030 0.00007610 0.00108213
+v 0.03147956 0.00397088 -0.00140014
+v 0.03163694 0.00259522 -0.00244465
+v 0.03173987 0.00153432 -0.00140014
+v 0.03157253 0.00315764 -0.00508944
+v 0.03152206 0.00153433 -0.00508944
+v 0.03166350 -0.00146997 -0.00244467
+v 0.03122125 0.00225436 0.00108214
+v 0.03119668 0.00397087 -0.00063413
+v 0.03183085 -0.00146998 -0.00052964
+v 0.03183018 -0.00058589 -0.00140015
+v 0.03178901 0.00047447 0.00108213
+v 0.03180960 0.00047447 -0.00035565
+v 0.03160905 0.00153431 0.00108214
+v 0.03180296 0.00047448 -0.00140015
+v 0.03159311 0.00259523 -0.00508944
+v 0.03182155 -0.00146997 -0.00140016
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+f 1 19 8
+f 1 8 4
+f 1 4 9
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+f 1 6 2
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_65.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c750205b16b23f33b570cd1f5974ba983b255e33
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_65.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.01971450 -0.01765448 0.00904882
+v -0.01791421 -0.01763124 0.00695907
+v -0.01683958 -0.01759822 0.00800318
+v -0.01898921 -0.01763613 0.00904882
+v -0.01971450 -0.01759333 0.01009445
+v -0.01971450 -0.01755538 0.00068982
+v -0.01604894 -0.01764343 -0.00376628
+v -0.01594221 -0.01764710 -0.00366142
+v -0.01594221 -0.01757131 0.00800318
+v -0.01791421 -0.01760433 0.00904882
+v -0.01683958 -0.01751261 0.01009445
+v -0.01594221 -0.01727410 0.01083764
+v -0.01594221 -0.01723007 0.01098050
+v -0.01683958 -0.01724597 0.01095923
+v -0.01971450 -0.01749426 0.01035130
+v -0.01971450 -0.01747343 -0.00035429
+v -0.01683958 -0.01758594 -0.00376628
+v -0.01594221 -0.01764588 -0.00376628
+v -0.01594221 -0.01739397 0.01009445
+v -0.01683958 -0.01756886 0.00904882
+v -0.01594221 -0.01681422 0.01141669
+v -0.01971450 -0.01727533 0.01088323
+v -0.01971450 -0.01730709 -0.00089231
+v -0.01784405 -0.01729729 -0.00376628
+v -0.01718081 -0.01751867 -0.00376628
+v -0.01594221 -0.00515920 -0.00376624
+v -0.01594221 -0.01668457 0.01150332
+v -0.01971450 -0.01649376 0.01126623
+v -0.01971450 -0.01720924 -0.00117044
+v -0.01837619 -0.01691446 -0.00376628
+v -0.01971450 -0.00515920 -0.00376624
+v -0.01594221 -0.00515925 0.01139393
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+v -0.01849843 -0.01675668 -0.00376628
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+v -0.01594221 -0.01543333 0.01176017
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+v -0.01717490 -0.00515925 0.01140153
+v -0.01791421 -0.00588944 0.01133618
+v -0.01791421 -0.00515925 0.01123131
+v -0.01971450 -0.00689972 0.01100181
+v -0.01971450 -0.00619889 0.01074801
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+v -0.01825765 -0.00515925 0.01110213
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_66.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e32f22f4c5c72a3129f816fde23e8a92e0a1534
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_66.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01594233 0.00454158 0.01149532
+v -0.01703199 0.00346603 0.01142696
+v -0.01683952 0.00346603 0.01143583
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+v -0.01594233 0.00346603 0.01147045
+v -0.01594233 0.00471649 0.01149088
+v -0.01898919 0.01426066 0.01129119
+v -0.02090703 0.00346603 0.01114557
+v -0.01594233 0.00346606 0.00242889
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+v -0.01898919 0.01532055 0.01111278
+v -0.02006427 0.01426066 0.01112165
+v -0.02006427 0.01319947 0.01118289
+v -0.02090703 0.01130813 0.01113939
+v -0.02090703 0.00346606 0.00242889
+v -0.01594233 0.01460398 0.00242893
+v -0.01594233 0.01615331 0.01088377
+v -0.01898919 0.01602017 0.01078435
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+v -0.02012648 0.01537798 0.01087134
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+v -0.01594233 0.01661277 0.01009465
+v -0.01898919 0.01633213 0.01009465
+v -0.02012648 0.01619247 0.01017188
+v -0.02090703 0.01612982 0.01000234
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+v -0.01594233 0.01680075 0.00591562
+v -0.01791460 0.01675637 0.00486997
+v -0.01594233 0.01679813 0.00696037
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_67.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6776eea8032f9a55a2d0e373c923ee64694627f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_67.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00752117 -0.01710547 -0.00906238
+v 0.00941333 -0.01704504 -0.00837362
+v 0.00941333 -0.01704707 -0.00812862
+v 0.00941333 -0.01704707 -0.00800613
+v 0.00752117 -0.01707695 -0.00866176
+v 0.00752117 -0.01709256 -0.00975961
+v 0.00941333 -0.01698053 -0.00867485
+v 0.00752117 -0.01706676 -0.00999536
+v 0.00941333 -0.01691194 -0.00780043
+v 0.00820431 -0.01704300 -0.00816792
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+v 0.00941333 -0.01693231 -0.00889596
+v 0.00752117 -0.01692348 -0.01046454
+v 0.00941333 -0.01647532 -0.00724572
+v 0.00752117 -0.01696491 -0.00822031
+v 0.00941333 -0.01663829 -0.00945221
+v 0.00752117 -0.01670211 -0.01080661
+v 0.00780717 -0.01664643 -0.01073804
+v 0.00941333 -0.01613715 -0.00698609
+v 0.00752117 -0.01261837 -0.00386973
+v 0.00941333 -0.01640265 -0.00980737
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+v 0.00752117 -0.01618604 -0.01146070
+v 0.00941333 -0.01592394 -0.00684664
+v 0.00941333 -0.01542010 -0.00653154
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+v 0.00752117 -0.01016839 -0.00386972
+v 0.00941333 -0.01548526 -0.01064174
+v 0.00752117 -0.01589065 -0.01156624
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+v 0.00941333 -0.01051266 -0.00386972
+v 0.00893839 -0.01108170 -0.00386972
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+v 0.00934720 -0.01016836 -0.01148995
+v 0.00752117 -0.01262310 -0.01146762
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+v 0.00752117 -0.01509278 -0.01168720
+v 0.00752117 -0.01439608 -0.01173958
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_68.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b0df50b5ebe42c6810a0123fe8858336569abd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_68.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01396438 0.00116825 0.01244232
+v 0.01396438 0.00153369 0.01244103
+v 0.01325851 0.00047688 0.01242580
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+v 0.01217277 0.01736611 0.00906175
+v 0.01217277 0.01738257 0.00801573
+v 0.01396438 0.01747805 0.00905001
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_69.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0908e8d5146b7b3d6135edc38531c23808c32b02
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_69.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01781384 -0.00692824 -0.01013794
+v 0.01598325 -0.00692825 -0.00903762
+v 0.01598325 -0.00437961 -0.01142004
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+v 0.01781384 -0.00692832 0.00982086
+v 0.01598325 -0.00692832 0.01209086
+v 0.01598325 -0.00376704 -0.01174055
+v 0.01781384 -0.00404523 -0.01174773
+v 0.01781384 -0.00570739 0.01197366
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+v 0.01635259 -0.00692832 0.01197365
+v 0.01781384 -0.00552334 0.01206216
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+v 0.01598325 -0.00647873 0.01215784
+v 0.01598325 -0.00270628 -0.01188647
+v 0.01781384 -0.00376704 -0.01181710
+v 0.01781384 0.00284610 0.01246883
+v 0.01755829 -0.00482789 0.01233007
+v 0.01598325 -0.00532104 0.01229658
+v 0.01598325 -0.00058617 -0.01192233
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+v 0.01781384 0.00390686 0.01246644
+v 0.01755829 0.00259461 0.01247122
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+v 0.01781384 0.00683633 -0.01194862
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+f 2 37 36
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+f 2 35 28
+f 2 28 20
+f 2 20 15
+f 2 15 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 9 12 11
+f 9 11 10
+f 13 17 18
+f 13 18 14
+f 14 18 19
+f 15 20 21
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+f 15 22 23
+f 15 23 16
+f 17 24 25
+f 17 25 18
+f 18 26 19
+f 18 25 27
+f 18 27 26
+f 20 28 29
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+f 21 29 30
+f 21 30 31
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 25 34 27
+f 28 35 29
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+f 29 36 30
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+f 44 46 45
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_7.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27534d58cbc529ef16223c8f656a10696fa0aa25
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_7.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.00931511 -0.01543375 0.01188351
+v -0.01038962 -0.01543375 0.01185690
+v -0.01146484 -0.01620109 0.01173760
+v -0.01038962 -0.01621750 0.01174876
+v -0.00931511 -0.01620724 0.01174876
+v -0.00824025 -0.01607593 0.01169984
+v -0.00824025 -0.01543375 0.01180712
+v -0.00824025 -0.01462025 0.01176851
+v -0.01146484 -0.01013217 0.01158742
+v -0.01175740 -0.01013217 0.01159171
+v -0.01146484 -0.01543375 0.01180627
+v -0.01175740 -0.01616621 0.01172559
+v -0.01146484 -0.01673145 0.01149814
+v -0.01038962 -0.01674684 0.01150672
+v -0.00810844 -0.01657757 0.01149127
+v -0.00931511 -0.01673760 0.01150329
+v -0.00810844 -0.01605234 0.01169211
+v -0.00810844 -0.01542965 0.01179167
+v -0.00810844 -0.01535681 0.01179339
+v -0.00810844 -0.01464282 0.01175907
+v -0.01038962 -0.01013217 0.01152992
+v -0.01038962 -0.00907144 0.01126386
+v -0.01175740 -0.00935971 0.01131278
+v -0.01175740 -0.01543375 0.01177022
+v -0.01175740 -0.01573432 0.01176421
+v -0.01175740 -0.01666169 0.01148355
+v -0.01175740 -0.01686481 0.01134622
+v -0.01146484 -0.01723309 0.01097544
+v -0.01038962 -0.01725155 0.01098403
+v -0.00931511 -0.01725566 0.01098145
+v -0.00824025 -0.01660630 0.01148612
+v -0.00810844 -0.01724232 0.01096429
+v -0.00810844 -0.01013217 0.01076604
+v -0.00833277 -0.01013217 0.01091882
+v -0.00851674 -0.00907144 0.01080639
+v -0.00931511 -0.01013217 0.01134968
+v -0.00931511 -0.00907144 0.01113254
+v -0.01175740 -0.00907144 0.01120721
+v -0.00931511 -0.00834206 0.01075489
+v -0.01175740 -0.00707719 0.01023563
+v -0.01175740 -0.01723001 0.01096514
+v -0.00931511 -0.01751315 0.01009398
+v -0.00824025 -0.01751212 0.01009398
+v -0.00810844 -0.01747724 0.01020127
+v -0.00824025 -0.01724437 0.01096429
+v -0.00810844 -0.00907144 0.01050427
+v -0.00810844 -0.00783940 0.01012577
+v -0.00810844 -0.00707514 0.00982022
+v -0.00872607 -0.00847953 0.01065705
+v -0.00842136 -0.00707514 0.00988201
+v -0.00931511 -0.00707514 0.01000561
+v -0.01175168 -0.00707514 0.01023220
+v -0.01175740 -0.00707514 0.01015581
+v -0.01175740 -0.01728438 0.01073598
+v -0.00810844 -0.01750696 0.00311524
+v -0.00824025 -0.01755417 0.00904944
+v -0.01175740 -0.01736132 0.01009398
+v -0.01175740 -0.01736542 0.00980989
+v -0.00810844 -0.01755109 0.00904944
+v -0.00810844 -0.01750699 0.01009398
+v -0.00810844 -0.00707511 0.00311527
+v -0.01175740 -0.00707511 0.00311527
+v -0.00824025 -0.01749055 0.00311524
+v -0.00892325 -0.01729769 0.00311524
+v -0.01175740 -0.01714383 0.00828214
+v -0.01175740 -0.01092615 0.00311526
+v -0.00917937 -0.01720023 0.00311524
+v -0.01175740 -0.01706894 0.00800405
+v -0.00963196 -0.01649445 0.00311524
+v -0.01175740 -0.01606155 0.00634756
+v -0.01175740 -0.01681043 0.00725047
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 5 15 6
+f 5 14 16
+f 5 16 15
+f 6 15 17
+f 6 17 7
+f 7 18 19
+f 7 19 8
+f 7 17 18
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 38
+f 10 38 40
+f 10 40 53
+f 10 53 62
+f 10 62 66
+f 10 66 70
+f 10 70 71
+f 10 71 68
+f 10 68 65
+f 10 65 58
+f 10 58 57
+f 10 57 54
+f 10 54 41
+f 10 41 27
+f 10 27 26
+f 10 26 12
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+f 10 25 24
+f 10 24 11
+f 11 24 25
+f 11 25 12
+f 12 26 13
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 13 26 27
+f 14 29 30
+f 14 30 16
+f 15 16 31
+f 15 31 32
+f 15 32 44
+f 15 44 60
+f 15 60 59
+f 15 59 55
+f 15 55 61
+f 15 61 48
+f 15 48 47
+f 15 47 46
+f 15 46 33
+f 15 33 20
+f 15 20 19
+f 15 19 18
+f 15 18 17
+f 16 30 32
+f 16 32 31
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 22
+f 22 38 23
+f 22 37 39
+f 22 39 40
+f 22 40 38
+f 27 41 28
+f 28 41 42
+f 28 42 29
+f 29 42 30
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 32
+f 32 45 44
+f 33 46 35
+f 33 35 34
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 37
+f 35 37 36
+f 37 49 48
+f 37 48 39
+f 39 48 50
+f 39 50 51
+f 39 51 40
+f 40 51 52
+f 40 52 53
+f 41 54 42
+f 42 55 56
+f 42 56 43
+f 42 54 57
+f 42 57 58
+f 42 58 55
+f 43 56 59
+f 43 59 60
+f 43 60 44
+f 48 61 62
+f 48 62 53
+f 48 53 52
+f 48 52 51
+f 48 51 50
+f 55 59 56
+f 55 58 63
+f 55 63 64
+f 55 64 67
+f 55 67 69
+f 55 69 66
+f 55 66 62
+f 55 62 61
+f 58 64 63
+f 58 65 64
+f 64 65 67
+f 65 68 67
+f 66 69 70
+f 67 68 71
+f 67 71 70
+f 67 70 69
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_70.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86fa949debca8a1dc5246920759a40b9a016f4ff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_70.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00033031 -0.00614051 -0.00386735
+v -0.00033031 0.00895884 -0.00386730
+v 0.00468594 -0.00614051 -0.00386735
+v -0.00033031 -0.00614056 0.01195412
+v -0.00033031 0.00895880 0.00932986
+v 0.00468594 0.00895884 -0.00386730
+v 0.00468594 -0.00614056 0.00981025
+v 0.00010473 -0.00614056 0.01197145
+v 0.00358409 -0.00270714 0.01219829
+v -0.00033031 -0.00058620 0.01188011
+v -0.00033031 0.00468143 0.01138551
+v 0.00358409 0.00895879 0.01102007
+v 0.00468594 0.00895879 0.01148476
+v 0.00468594 -0.00359839 0.01192420
+v 0.00300862 -0.00614056 0.01162490
+v 0.00035957 -0.00614056 0.01197618
+v 0.00468594 -0.00268054 0.01222349
+v 0.00468594 -0.00161933 0.01220774
+v -0.00033031 0.00047501 0.01183600
+v -0.00033031 0.00394538 0.01157453
+v 0.00467513 0.00895879 0.01148318
+v -0.00033031 0.00362465 0.01164226
+v 0.00082555 0.00419517 0.01166590
+v 0.00468594 0.00474203 0.01185650
+v 0.00468594 -0.00270714 0.01222034
+v 0.00258438 -0.00614056 0.01179345
+v 0.00117957 -0.00614056 0.01197460
+v 0.00143441 -0.00614056 0.01196830
+v 0.00468594 0.00471543 0.01185807
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 26
+f 1 26 28
+f 1 28 27
+f 1 27 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 22
+f 1 22 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 21
+f 2 21 13
+f 2 13 6
+f 3 6 13
+f 3 13 24
+f 3 24 29
+f 3 29 18
+f 3 18 17
+f 3 17 25
+f 3 25 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 7 14 15
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 21
+f 11 21 12
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 14 25 26
+f 14 26 15
+f 16 27 17
+f 17 27 28
+f 17 28 25
+f 18 29 19
+f 19 29 24
+f 19 24 22
+f 20 22 21
+f 22 24 23
+f 25 28 26
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_71.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d6848d1de282c659627c7e7d8b98a0404954a3f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_71.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00810834 -0.00707512 0.00311527
+v -0.00810834 -0.00707510 -0.00385871
+v -0.01075681 -0.00707512 0.00311527
+v -0.00810834 -0.01750656 0.00311524
+v -0.01075681 -0.00707510 -0.00385871
+v -0.00810834 -0.01509596 -0.00385874
+v -0.01075681 -0.01056598 0.00311526
+v -0.00813816 -0.01750347 0.00311524
+v -0.00810834 -0.01753125 0.00290772
+v -0.01075681 -0.01718143 -0.00385874
+v -0.00810834 -0.01715057 -0.00106054
+v -0.01072206 -0.01716908 -0.00385874
+v -0.01075681 -0.01079953 0.00311322
+v -0.01075525 -0.01080467 0.00311526
+v -0.00824005 -0.01749010 0.00311524
+v -0.00824005 -0.01752920 0.00277938
+v -0.01075681 -0.01756108 -0.00035536
+v -0.01075681 -0.01758474 -0.00071171
+v -0.01038968 -0.01757548 -0.00035536
+v -0.00931499 -0.01751478 -0.00035536
+v -0.00810834 -0.01745099 0.00068910
+v -0.00810834 -0.01718452 -0.00100593
+v -0.00810834 -0.01738515 -0.00035809
+v -0.00810834 -0.01740984 -0.00022702
+v -0.00824005 -0.01740675 -0.00035536
+v -0.01075681 -0.01749728 -0.00175685
+v -0.01075681 -0.01659295 0.00159566
+v -0.00968005 -0.01633779 0.00311524
+v -0.00892323 -0.01729771 0.00311524
+v -0.01075681 -0.01739749 0.00047816
+v -0.01075681 -0.01679254 0.00147483
+v -0.00963156 -0.01649418 0.00311524
+v -0.00917939 -0.01719996 0.00311524
+v -0.01075681 -0.01731827 0.00071162
+v -0.01075681 -0.01713925 0.00104681
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 28
+f 1 28 32
+f 1 32 33
+f 1 33 29
+f 1 29 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 21
+f 1 21 24
+f 1 24 23
+f 1 23 22
+f 1 22 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 26
+f 3 26 18
+f 3 18 17
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+f 3 34 35
+f 3 35 31
+f 3 31 27
+f 3 27 13
+f 3 13 7
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+f 9 20 21
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+f 10 25 26
+f 11 22 12
+f 13 27 14
+f 14 27 28
+f 15 17 16
+f 15 29 30
+f 15 30 17
+f 18 26 20
+f 18 20 19
+f 20 26 24
+f 20 24 21
+f 24 26 25
+f 27 31 32
+f 27 32 28
+f 29 33 30
+f 30 33 34
+f 31 35 33
+f 31 33 32
+f 33 35 34
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_72.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a2b560f7dc18d6046339ef59084c1b6624b2f54
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_72.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02723258 0.01734335 0.00108219
+v 0.02798493 0.01718222 0.00003467
+v 0.02723258 0.01736184 0.00068952
+v 0.02615785 0.01746354 -0.00035559
+v 0.02615785 0.01736052 0.00068952
+v 0.02615900 0.01726675 0.00108219
+v 0.02798493 0.01708713 0.00108219
+v 0.02798493 0.01718751 -0.00032659
+v 0.02723258 0.01737637 -0.00035559
+v 0.02504716 0.01721922 -0.00508939
+v 0.02504716 0.01724299 -0.00145930
+v 0.02504716 0.01721392 -0.00033565
+v 0.02554240 0.01698940 0.00108219
+v 0.02798493 0.00397087 0.00108214
+v 0.02798493 0.01710958 -0.00116570
+v 0.02508110 0.01720998 -0.00508939
+v 0.02504716 0.00397089 -0.00508944
+v 0.02504716 0.01687317 0.00033189
+v 0.02539601 0.01677279 0.00108219
+v 0.02504716 0.00397087 0.00108214
+v 0.02798493 0.00397089 -0.00508944
+v 0.02798493 0.01623792 -0.00508939
+v 0.02504716 0.01644525 0.00073120
+v 0.02504716 0.01635676 0.00080188
+v 0.02519700 0.01633431 0.00108219
+v 0.02504716 0.01588394 0.00108219
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 19
+f 1 19 25
+f 1 25 26
+f 1 26 20
+f 1 20 14
+f 1 14 7
+f 1 7 2
+f 2 8 3
+f 2 7 14
+f 2 14 21
+f 2 21 22
+f 2 22 15
+f 2 15 8
+f 3 9 4
+f 3 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 8 15 9
+f 9 15 10
+f 10 15 16
+f 10 16 22
+f 10 22 21
+f 10 21 17
+f 10 17 20
+f 10 20 26
+f 10 26 24
+f 10 24 23
+f 10 23 18
+f 10 18 12
+f 10 12 11
+f 12 18 13
+f 13 18 19
+f 14 20 17
+f 14 17 21
+f 15 22 16
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 24 26 25
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_73.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d57caaa127d697011fa75c0faea9cd53a140153
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_73.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02504687 0.00325004 0.00108086
+v 0.01781455 0.00325004 0.00108086
+v 0.02504687 0.00031765 0.00108085
+v 0.02504687 0.00325008 -0.01182215
+v 0.01781455 0.00031765 0.00108085
+v 0.01781455 0.00325008 -0.01048991
+v 0.02504687 0.00031768 -0.00892499
+v 0.02504687 0.00259506 -0.01169685
+v 0.02078324 0.00031769 -0.01190015
+v 0.01970848 0.00031769 -0.01197942
+v 0.02400751 0.00325008 -0.01184900
+v 0.01781455 0.00031769 -0.01196280
+v 0.02096590 0.00325008 -0.01155365
+v 0.01781455 0.00237548 -0.01147183
+v 0.02166542 0.00031769 -0.01157029
+v 0.02504687 0.00198883 -0.01140662
+v 0.01863372 0.00031769 -0.01197430
+v 0.01970848 0.00047442 -0.01197558
+v 0.02293276 0.00325008 -0.01186690
+v 0.01781455 0.00047442 -0.01195896
+v 0.02185800 0.00325008 -0.01182471
+v 0.01781455 0.00228850 -0.01154598
+v 0.01863372 0.00047442 -0.01197047
+v 0.01781455 0.00128272 -0.01184645
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 16
+f 1 16 8
+f 1 8 4
+f 1 4 11
+f 1 11 19
+f 1 19 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 22
+f 2 22 24
+f 2 24 20
+f 2 20 12
+f 2 12 5
+f 3 5 12
+f 3 12 17
+f 3 17 10
+f 3 10 9
+f 3 9 15
+f 3 15 7
+f 4 8 9
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+f 4 10 11
+f 6 13 14
+f 7 15 16
+f 8 16 9
+f 9 16 15
+f 10 17 23
+f 10 23 18
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+f 10 19 11
+f 12 20 23
+f 12 23 17
+f 13 21 14
+f 14 21 22
+f 18 23 19
+f 19 23 20
+f 19 20 21
+f 20 24 21
+f 21 24 22
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_74.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cae7fa71e46751050b6fd3d226e717240353586
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_74.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02176545 -0.00270779 0.01237368
+v 0.02176545 -0.00164759 0.01232009
+v 0.02176545 -0.00869120 0.01222700
+v 0.02185835 -0.00869121 0.01226085
+v 0.02224293 -0.00869121 0.01231255
+v 0.02293317 -0.00869121 0.01236708
+v 0.02400767 -0.00482819 0.01233700
+v 0.02400767 -0.00376799 0.01231821
+v 0.02508380 -0.00270778 0.01222797
+v 0.02176545 0.00047383 0.01215935
+v 0.02176545 -0.00869117 0.00277076
+v 0.02331808 -0.00869121 0.01234264
+v 0.02400767 -0.00869121 0.01229563
+v 0.02508380 -0.00376798 0.01221386
+v 0.02508380 -0.00153334 0.01193654
+v 0.02273861 0.00154605 0.01178145
+v 0.02186874 0.00154605 0.01197887
+v 0.02176545 0.00144284 0.01201929
+v 0.02508380 -0.00869117 0.00277076
+v 0.02176545 0.00154608 0.00277080
+v 0.02508282 -0.00869120 0.01207001
+v 0.02508380 -0.00869019 0.01207001
+v 0.02508380 0.00154605 0.01079719
+v 0.02176545 0.00154605 0.01199391
+v 0.02508380 0.00154608 0.00277080
+v 0.02508380 -0.00869117 0.00348240
+f 1 2 10
+f 1 10 18
+f 1 18 24
+f 1 24 20
+f 1 20 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 19
+f 3 19 26
+f 3 26 21
+f 3 21 13
+f 3 13 12
+f 3 12 6
+f 3 6 5
+f 3 5 4
+f 6 12 7
+f 7 12 13
+f 7 13 9
+f 7 9 8
+f 9 13 14
+f 9 14 22
+f 9 22 26
+f 9 26 19
+f 9 19 25
+f 9 25 23
+f 9 23 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 20 25
+f 11 25 19
+f 13 21 22
+f 13 22 14
+f 15 23 16
+f 16 23 25
+f 16 25 20
+f 16 20 24
+f 16 24 17
+f 17 24 18
+f 21 26 22
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_75.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58fac760c15c1748f4f97dcde84a44e6d5fdde70
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_75.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01217277 0.01502156 0.00027996
+v 0.01396438 0.01463623 0.00027995
+v 0.01365309 0.01690470 -0.00193543
+v 0.01293669 0.01691810 -0.00191548
+v 0.01217277 0.01692480 -0.00190633
+v 0.01217277 -0.01709538 0.00027984
+v 0.01396438 0.01686449 -0.00196953
+v 0.01396438 -0.01709538 0.00027984
+v 0.01396438 0.01697506 -0.00220862
+v 0.01396438 0.01705883 -0.00246766
+v 0.01328025 0.01705548 -0.00234832
+v 0.01217277 0.01710574 -0.00243897
+v 0.01217277 -0.01710208 -0.00011476
+v 0.01325851 -0.01711548 -0.00035551
+v 0.01396438 -0.01711548 -0.00035551
+v 0.01396438 0.01705883 -0.00338533
+v 0.01325851 0.01708564 -0.00325436
+v 0.01218382 0.01710574 -0.00244479
+v 0.01217277 0.01710574 -0.00244479
+v 0.01217277 -0.01710543 -0.00038503
+v 0.01396438 -0.01711882 -0.00140042
+v 0.01217277 0.01706888 -0.00351506
+v 0.01396438 0.01667014 -0.00396787
+v 0.01217277 0.01680082 -0.00395082
+v 0.01217277 0.01710239 -0.00261485
+v 0.01369466 -0.01708531 -0.00396799
+v 0.01217277 -0.01701831 -0.00107609
+v 0.01288391 -0.01699820 -0.00396799
+v 0.01341266 -0.01706856 -0.00396799
+v 0.01396438 -0.01708531 -0.00396799
+v 0.01217277 0.01677402 -0.00396787
+v 0.01266276 -0.01686752 -0.00396799
+v 0.01217277 -0.01654249 -0.00396799
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 19
+f 1 19 25
+f 1 25 22
+f 1 22 24
+f 1 24 31
+f 1 31 33
+f 1 33 27
+f 1 27 20
+f 1 20 13
+f 1 13 6
+f 1 6 8
+f 1 8 2
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+f 3 7 9
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+f 10 18 12
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+f 13 20 14
+f 14 21 15
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+f 16 22 17
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+f 16 24 22
+f 17 25 18
+f 17 22 25
+f 18 25 19
+f 20 26 21
+f 20 27 28
+f 20 28 29
+f 20 29 26
+f 21 26 30
+f 23 31 24
+f 23 30 26
+f 23 26 29
+f 23 29 28
+f 23 28 32
+f 23 32 33
+f 23 33 31
+f 27 32 28
+f 27 33 32
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_76.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cf1be6683a701594222388f1852582044e658da
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_76.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02504687 0.00031765 0.00108085
+v 0.01781455 0.00031765 0.00108085
+v 0.02504687 -0.00216108 0.00108084
+v 0.02504687 0.00031768 -0.00892546
+v 0.01781455 -0.00216108 0.00108084
+v 0.01781455 0.00031769 -0.01196257
+v 0.02504687 -0.00216105 -0.00946708
+v 0.02166542 0.00031769 -0.01157076
+v 0.01781455 -0.00216104 -0.01188063
+v 0.01863372 0.00031769 -0.01197409
+v 0.01781455 0.00022185 -0.01196513
+v 0.02174259 -0.00216104 -0.01158102
+v 0.02134115 -0.00216104 -0.01174107
+v 0.02078324 0.00031769 -0.01189983
+v 0.01781455 -0.00083869 -0.01193952
+v 0.01863372 -0.00216104 -0.01197410
+v 0.01970848 0.00031769 -0.01197921
+v 0.01863372 -0.00058660 -0.01199714
+v 0.02078324 -0.00216104 -0.01188447
+v 0.02022957 -0.00216104 -0.01195489
+v 0.01970848 -0.00058660 -0.01199842
+v 0.01970848 -0.00216104 -0.01198306
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 17
+f 1 17 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 15
+f 2 15 9
+f 2 9 5
+f 3 5 9
+f 3 9 16
+f 3 16 22
+f 3 22 20
+f 3 20 19
+f 3 19 13
+f 3 13 12
+f 3 12 7
+f 4 7 8
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 9 15 16
+f 10 17 18
+f 10 18 11
+f 11 18 16
+f 11 16 15
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 17
+f 16 18 22
+f 17 21 18
+f 18 21 22
+f 20 22 21
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_77.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78952cc0d86250368406fcaef404bc735be20bf5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_77.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02798528 0.01708696 0.00108219
+v 0.02805597 0.01706626 0.00108219
+v 0.02998866 0.01694723 -0.00078390
+v 0.02798528 0.01718269 0.00003467
+v 0.02798528 0.00397087 0.00108214
+v 0.02947850 0.01629647 0.00108219
+v 0.02995801 0.01694077 -0.00405334
+v 0.02798528 0.01718657 -0.00032659
+v 0.03015616 0.01606101 0.00049318
+v 0.03049081 0.01538567 0.00108219
+v 0.03029127 0.01640127 -0.00040331
+v 0.03042848 0.01638187 -0.00140009
+v 0.02798528 0.00397089 -0.00508944
+v 0.02892481 0.00397087 0.00108214
+v 0.02983474 0.01694077 -0.00405334
+v 0.03032888 0.01638187 -0.00348971
+v 0.03079621 0.01532100 -0.00508939
+v 0.03028082 0.01620981 -0.00508939
+v 0.02993015 0.01629002 -0.00508939
+v 0.02940746 0.01639740 -0.00508939
+v 0.02798528 0.01710895 -0.00116570
+v 0.03096057 0.01461200 0.00108218
+v 0.03089267 0.01528476 -0.00028793
+v 0.03091426 0.01546718 -0.00140009
+v 0.03150556 0.00397089 -0.00508944
+v 0.02798528 0.01623827 -0.00508939
+v 0.03119702 0.00397087 -0.00063413
+v 0.03122662 0.00695039 0.00108216
+v 0.02826978 0.01630684 -0.00508939
+v 0.03100898 0.01486947 -0.00219209
+v 0.03092506 0.01428470 -0.00508940
+v 0.03101072 0.01490698 -0.00059120
+v 0.03102709 0.01414496 0.00108218
+v 0.03101734 0.01493675 -0.00140010
+v 0.03145924 0.00577697 -0.00508943
+v 0.03147178 0.00577697 -0.00453486
+v 0.03154247 0.00577696 -0.00140013
+v 0.03152297 0.00471737 -0.00140013
+v 0.03147979 0.00397088 -0.00140014
+v 0.03143800 0.00789871 0.00108216
+v 0.03107723 0.01426011 -0.00140010
+v 0.03122140 0.01107878 -0.00508941
+v 0.03139865 0.00895959 0.00108216
+v 0.03144288 0.00633975 -0.00508943
+v 0.03142721 0.00683785 -0.00508942
+v 0.03143835 0.00683785 -0.00453485
+v 0.03125518 0.01107877 -0.00244462
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 21
+f 1 21 26
+f 1 26 13
+f 1 13 5
+f 1 5 14
+f 1 14 28
+f 1 28 40
+f 1 40 43
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+f 1 33 22
+f 1 22 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
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+f 3 9 10
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+f 3 12 7
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+f 6 10 9
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+f 8 15 21
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+f 13 35 25
+f 14 27 28
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+f 22 32 23
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+f 24 34 30
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+f 25 36 37
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+f 25 38 39
+f 27 39 40
+f 27 40 28
+f 30 41 42
+f 30 42 31
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+f 32 41 34
+f 32 33 41
+f 33 43 41
+f 35 44 36
+f 36 44 37
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+f 37 46 42
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+f 37 47 43
+f 38 40 39
+f 41 47 42
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+f 42 46 45
+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_78.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4fb39cfae74df2cfb1721e22b614ff1de6e795a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_78.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02663588 0.00780128 -0.00508942
+v 0.02663588 0.00780129 -0.00900043
+v 0.02504687 0.00780128 -0.00508942
+v 0.02663588 -0.00146905 -0.00508946
+v 0.02504687 0.00780130 -0.00997318
+v 0.02663588 0.00672124 -0.01083993
+v 0.02504687 -0.00146905 -0.00508946
+v 0.02663588 -0.00146903 -0.00990255
+v 0.02504687 0.00698717 -0.01089193
+v 0.02663588 0.00629467 -0.01131464
+v 0.02504687 -0.00146904 -0.00898580
+v 0.02663588 0.00174391 -0.01150266
+v 0.02504687 0.00198896 -0.01140666
+v 0.02504687 0.00646530 -0.01140065
+v 0.02663588 0.00607049 -0.01144665
+v 0.02504687 0.00259615 -0.01169668
+v 0.02663588 0.00213055 -0.01166268
+v 0.02663588 0.00580093 -0.01159400
+v 0.02504687 0.00607139 -0.01156066
+v 0.02504687 0.00365533 -0.01190003
+v 0.02663588 0.00259615 -0.01177802
+v 0.02663588 0.00471633 -0.01185535
+v 0.02504687 0.00594070 -0.01160933
+v 0.02504687 0.00369073 -0.01190003
+v 0.02508296 0.00365533 -0.01190003
+v 0.02663588 0.00318338 -0.01186270
+v 0.02504687 0.00471633 -0.01186335
+v 0.02504687 0.00475173 -0.01186202
+v 0.02663588 0.00365533 -0.01189136
+f 1 2 5
+f 1 5 3
+f 1 3 7
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+f 1 12 17
+f 1 17 21
+f 1 21 26
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+f 1 29 22
+f 1 22 18
+f 1 18 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
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+f 3 14 19
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+f 3 13 11
+f 3 11 7
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+f 4 11 8
+f 5 6 9
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+f 10 15 14
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_79.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ce052aaa8e9abaf08e4a3e840065ac7cc1f183c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_79.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02504687 0.01721946 -0.00508939
+v 0.02508094 0.01720911 -0.00508939
+v 0.02663588 0.01703702 -0.00587953
+v 0.02663588 0.01720723 -0.00662505
+v 0.02615774 0.01728717 -0.00662505
+v 0.02504687 0.01740942 -0.00659027
+v 0.02504687 0.00780313 -0.00508942
+v 0.02663588 0.01632231 -0.00508939
+v 0.02663588 0.01660443 -0.00535649
+v 0.02663588 0.01681508 -0.00558947
+v 0.02663588 0.01722887 -0.00709034
+v 0.02663588 0.01725426 -0.00813511
+v 0.02508296 0.01740848 -0.00662505
+v 0.02504687 0.01732856 -0.00972458
+v 0.02504687 0.00780315 -0.00997334
+v 0.02663588 0.00780313 -0.00508942
+v 0.02663588 0.01722512 -0.00975937
+v 0.02508296 0.01732668 -0.00975937
+v 0.02504687 0.01732668 -0.00975937
+v 0.02504687 0.01006201 -0.01151030
+v 0.02663588 0.01024163 -0.01149061
+v 0.02663588 0.00780314 -0.00900010
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+v 0.02504687 0.01072218 -0.01169602
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+v 0.02504687 0.01108048 -0.01179315
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+v 0.02615774 0.01621606 -0.01153325
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+v 0.02504687 0.01532173 -0.01178591
+v 0.02663588 0.01532173 -0.01174391
+v 0.02663588 0.01581827 -0.01162381
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_8.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37e93caa4579f4b371474abd96771fb935a55577
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_8.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_80.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aa67f060d54b77d7e3ec2b28fa984209bf9c35a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_80.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_81.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93c22ddc9c78f76a59c9374deb3f185fbec5bab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_81.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_82.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb042308419df47bf22edfab280c970ca40b6abe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_82.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01396438 0.01744709 0.00800138
+v 0.01396438 0.01739970 0.00627358
+v 0.01217277 0.01738276 0.00800138
+v 0.01396438 -0.01561709 0.00800126
+v 0.01396438 0.01724732 0.00278020
+v 0.01217277 0.01735228 0.00695911
+v 0.01217277 -0.01570852 0.00800126
+v 0.01217277 -0.01676505 0.00603387
+v 0.01217277 -0.01703934 0.00551311
+v 0.01274992 -0.01702918 0.00539898
+v 0.01396438 -0.01695468 0.00501427
+v 0.01396438 0.01707800 0.00198432
+v 0.01217277 0.01700350 0.00212415
+v 0.01217277 0.01708816 0.00278020
+v 0.01217277 -0.01709691 0.00486916
+v 0.01218382 -0.01710030 0.00486916
+v 0.01316819 -0.01707998 0.00485253
+v 0.01396438 -0.01706305 0.00455247
+v 0.01396438 -0.01700209 0.00485253
+v 0.01396438 0.01674953 0.00164118
+v 0.01217277 0.01502251 0.00027996
+v 0.01217277 -0.01714431 0.00382537
+v 0.01218382 -0.01714769 0.00382537
+v 0.01325851 -0.01712738 0.00382537
+v 0.01396438 -0.01710029 0.00387601
+v 0.01396438 0.01647862 0.00144769
+v 0.01396438 0.01614677 0.00122624
+v 0.01396438 0.01463647 0.00027995
+v 0.01217277 -0.01709689 0.00027984
+v 0.01217277 -0.01714431 0.00381479
+v 0.01396438 -0.01709689 0.00027984
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+f 1 4 11
+f 1 11 19
+f 1 19 18
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+f 1 25 31
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+f 1 20 12
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_9.obj b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14c25d6c87527342f8630f0619fb86415e259c39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/mesh/sponge_035_collision_9.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01594221 -0.00394297 0.01141479
+v -0.01683958 -0.00482853 0.01142857
+v -0.01683958 -0.00515925 0.01142857
+v -0.01594221 -0.00500345 0.01140559
+v -0.01594221 -0.00220109 0.01138722
+v -0.01683958 -0.00220109 0.01134817
+v -0.01717490 -0.00515925 0.01140100
+v -0.01609990 -0.00515925 0.01140789
+v -0.01594221 -0.00515925 0.01139411
+v -0.01594221 -0.00220101 -0.01142297
+v -0.01733332 -0.00220109 0.01114830
+v -0.01825765 -0.00515925 0.01110235
+v -0.01791421 -0.00515925 0.01123100
+v -0.01594221 -0.00515917 -0.00960579
+v -0.01596215 -0.00220101 -0.01144135
+v -0.01779973 -0.00220109 0.01094614
+v -0.01878943 -0.00515925 0.01083126
+v -0.01971450 -0.00515917 -0.01119784
+v -0.01683958 -0.00220101 -0.01163433
+v -0.01833705 -0.00220109 0.01050965
+v -0.01971450 -0.00515925 0.01016963
+v -0.01953908 -0.00515925 0.01031206
+v -0.01971450 -0.00272198 -0.01200649
+v -0.01791421 -0.00220101 -0.01181352
+v -0.01896263 -0.00220109 0.00996977
+v -0.01947261 -0.00220108 0.00951490
+v -0.01956715 -0.00220108 0.00942071
+v -0.01971450 -0.00220108 0.00925990
+v -0.01971450 -0.00237708 -0.01202717
+v -0.01897850 -0.00220101 -0.01196055
+v -0.01971450 -0.00220101 -0.01203636
+f 1 2 3
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+
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/sponge_035.xml b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/sponge_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..871fa2ccacf849eca99b486ded6e42f5a7b87ba8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mjcf/sponge_035.xml
@@ -0,0 +1,180 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_035">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/sponge_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_035_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_035_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_035_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_035_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_035_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_035_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_035_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_035_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sponge_035_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sponge_035_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sponge_035_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sponge_035_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sponge_035_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sponge_035_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sponge_035_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sponge_035_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sponge_035_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sponge_035_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sponge_035_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sponge_035_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sponge_035_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sponge_035_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sponge_035_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sponge_035_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sponge_035_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/sponge_035_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/sponge_035_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/sponge_035_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/sponge_035_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/sponge_035_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/sponge_035_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/sponge_035_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/sponge_035_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/sponge_035_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/sponge_035_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/sponge_035_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/sponge_035_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/sponge_035_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/sponge_035_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/sponge_035_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/sponge_035_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/sponge_035_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/sponge_035_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/sponge_035_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/sponge_035_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/sponge_035_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/sponge_035_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/sponge_035_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/sponge_035_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/sponge_035_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/sponge_035_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/sponge_035_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/sponge_035_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/sponge_035_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/sponge_035_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/sponge_035_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/sponge_035_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/sponge_035_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/sponge_035_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/sponge_035_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/sponge_035_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/sponge_035_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/sponge_035_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/sponge_035_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/sponge_035_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/sponge_035_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/sponge_035_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/sponge_035_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/sponge_035_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/sponge_035_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/sponge_035_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/sponge_035_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/sponge_035_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/sponge_035_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/sponge_035_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_035">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_82" 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/35b2dbc19a5a5f66932e971f4b60427a/sponge_035.urdf b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/sponge_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..948726358634cc3b36f288e94bb050241a7e16d7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/sponge_035.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_035">
+   <link name="sponge_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_035.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0175" />
+         <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>35b2dbc19a5a5f66932e971f4b60427a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>rectangular sponge</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>organic</material>
+         <description>porous rectangular cleaning sponge block with many rounded holes</description>
+         <min_height>0.0250</min_height>
+         <max_height>0.0250</max_height>
+         <real_height>0.0250</real_height>
+         <min_mass>0.005</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170848</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.032782 -0.017880 -0.012326</min>
+            <max>0.032422 0.017765 0.012674</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/sponge_035.usd b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/sponge_035.usd
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ccd6386a485863333ad6b6ae4cf67d5dbb3d0a4180041176c2ab8b61b03f186
+size 5004575
diff --git a/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/textures/material_0.png b/dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/textures/material_0.png
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