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index f1330cf195386861dfaab37f864d46bb33682f4a..f6109655c90c56cb67f7cc29bb98cfcb7bbac31c 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/bathroom_supplies/bath_products/16b928f7ae1559068ec8c4f32c480d3c/mesh/soap_dish_013.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/16b928f7ae1559068ec8c4f32c480d3c/soap_dish_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/facial_cleanser_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/facial_cleanser_015.urdf b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/facial_cleanser_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2d9139091e17db774d89890802115b4aaba50b08
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new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015.glb b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015.glb
new file mode 100644
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new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015.obj b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015.obj
new file mode 100644
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+f 2011 2025 2021
+f 2012 2021 2013
+f 2013 2021 2026
+f 2017 2020 2018
+f 2021 2025 2026
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diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e50410d5e59308bd79c65944e513710668c5d1d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:271a7266da1b0c29acf0d24ce32b167665f68204cda6459242873593b24d507b
+size 3994605
diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3cf76717e4bb9e949e947a1cf544b7a051b1c8d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e50410d5e59308bd79c65944e513710668c5d1d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:271a7266da1b0c29acf0d24ce32b167665f68204cda6459242873593b24d507b
+size 3994605
diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/facial_cleanser_015.xml b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/facial_cleanser_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..699bafe7ea7782ecf1758e538229bcc017f415c2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/facial_cleanser_015.xml
@@ -0,0 +1,22 @@
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015.obj b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a47c12ce470c4cb8f9dc606e5b2b21281e332876
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b55e1793764d098cd0ada14c5f88f69add3715efd652fe49ad271a0e9207e5
+size 36610702
diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision.obj b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51fd4509145e3f2ed4123448af28cf76b17f55d7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision.obj
@@ -0,0 +1,6072 @@
+# https://github.com/mikedh/trimesh
+
+o facial_cleanser_015_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_0.obj b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dd83f4adc0cf44554bc4e7b3e51cb240cbaca4f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_0.obj
@@ -0,0 +1,661 @@
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diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_1.obj b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06455519dc9a172fb18292955c5e9d9232964ffe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_1.obj
@@ -0,0 +1,3187 @@
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diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_2.obj b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f31ff84f6b86e865036b048b8e3cef672805b3a1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_2.obj
@@ -0,0 +1,703 @@
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diff --git a/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_3.obj b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab00bb1ce203d0d0ef95c23349cfed7d647da2c2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015_collision_3.obj
@@ -0,0 +1,1519 @@
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