diff --git a/.gitattributes b/.gitattributes
index 6fa68ef9232073e623945f9479774b0599d012d3..1b7e9a4028170ccd3bfa5aab38c2622f6d92a14a 100644
--- a/.gitattributes
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-dataset/bathroom_supplies/bath_products/bd30495877a057938db044fc2a04b87f/mesh/sponge_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/bd30495877a057938db044fc2a04b87f/sponge_020.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/facial_cleanser_012.urdf b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/facial_cleanser_012.urdf
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/facial_cleanser_012_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/facial_cleanser_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8213dc4098761333a4f974189bd5ddd570bdd75a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/facial_cleanser_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c36a043ccde2dd1991657febc6a2fdeca9e6280a6d71d2636164c1c328dbb3c1
+size 3381260
diff --git a/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..be56a8dba8be83669e50e4b68aa595d722af36cb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_012_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 facial_cleanser_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8213dc4098761333a4f974189bd5ddd570bdd75a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c36a043ccde2dd1991657febc6a2fdeca9e6280a6d71d2636164c1c328dbb3c1
+size 3381260
diff --git a/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/facial_cleanser_012.xml b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/facial_cleanser_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5c7fdd972f29e89d14b8bc2d46d9ec20f8a503d6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/facial_cleanser_012.xml
@@ -0,0 +1,20 @@
+
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012.obj b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c3e1f67bbba5d1e56ff18422a61c0947018159
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd3e1e1e9cfa2c19b6f365d7c0963f2c86995f4d1f048d0cdebd0300b8cc228
+size 36423415
diff --git a/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision.obj b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00a93fdb6595215024b653b539f3beb2aef2b37c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision.obj
@@ -0,0 +1,6755 @@
+# https://github.com/mikedh/trimesh
+
+o facial_cleanser_012_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision_0.obj b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30af9703b9219925d81bd9167530ad688a2f5a68
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision_0.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision_1.obj b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c7c0b8fde83933653835cb04f5fd3609684d5b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision_1.obj
@@ -0,0 +1,1990 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision_2.obj b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5f3f3f9b4f22cd1bb24b8f68e732a0cf9a1a94c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012_collision_2.obj
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