diff --git a/.gitattributes b/.gitattributes
index fe2677ee47d01111e9b40967ef33a34fcc90c570..ea562a43cdbae30ebc223a35d850f1d67e7f5290 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2299,7 +2299,5 @@ dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/sh
 dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/shampoo_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/shampoo_bottle_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/hand_sanitizer_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/soap_dish_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db5af4d68cbe8f6e5cd7564b4eb6fb9a409350ad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_037_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd soap_dish_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5b21d74109414d468b2e17522881feec54b718b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15943244295bd3c008ec6d6f4a3661428e298835bc184182d844f289a6be8444
+size 11328376
diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.glb b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..96629d04afde1b3cde29ed137cbe85b442df3b9b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a238f9611da39bf129043831dab9da94818ce797dbd7dfafbb68ffe7590670d
+size 14779272
diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.mtl b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e4ad4b6c8c910978024431c0bbf874003ce1a309
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_037_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5de5965b67734613874316f28cb56bc1a4a526a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037.obj
@@ -0,0 +1,116522 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_037_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037_collision.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d9215a1f44f92f1d409424d30fe36f6044b368
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mesh/soap_dish_037_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5b21d74109414d468b2e17522881feec54b718b
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+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:15943244295bd3c008ec6d6f4a3661428e298835bc184182d844f289a6be8444
+size 11328376
diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3860c6a4a8bc7df445cbc14216ed7c64470e7b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision.obj
@@ -0,0 +1,13196 @@
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_0.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0afe33decc889b455714660b2fad622740fa47a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_0.obj
@@ -0,0 +1,1222 @@
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_1.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feaad3ea72a8e13134e787625e459c53daeb3013
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_2.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e01927e23fed5628873c6a2616a560643c6371
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_2.obj
@@ -0,0 +1,766 @@
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_3.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4830095516aaeb368ef5a1484000c916a98417b8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_4.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75d76a2c9545454976dc9e8748422748efc90000
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_5.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ab10516dc02e591bdbdc6a2afa1d63aa34cb50
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_6.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642b655e745839ae7ac78709e5e8000a3a4c9ca5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_6.obj
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_7.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa117844a2a8a9f8abc8e425940079d4965c71d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_7.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_8.obj b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997d36d02a75b1fc493d7b9750185ee5cbabddcf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/mesh/soap_dish_037_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/soap_dish_037.xml b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/soap_dish_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7c3cc808f42a11244b6e616dd3ab8b1f7c370991
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/mjcf/soap_dish_037.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_037">
+  <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/soap_dish_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soap_dish_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soap_dish_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soap_dish_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soap_dish_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soap_dish_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soap_dish_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_037">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/soap_dish_037.urdf b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/soap_dish_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..839e238cb33dd921791fe7920ccc54e67d6cedb1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/soap_dish_037.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_037">
+   <link name="soap_dish_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_037.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3750" />
+         <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>255a68b217c156aba058a331926e4e3b</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>blue soap dish</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>ceramic</material>
+         <description>rounded rectangular blue soap dish with raised ornate side pattern</description>
+         <min_height>0.0761</min_height>
+         <max_height>0.0761</max_height>
+         <real_height>0.0761</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170503</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060000 -0.080634 -0.037670</min>
+            <max>0.060000 0.080487 0.038450</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>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Decorative side wall and bottom tray are merged; thin rim split is not a meaningful part.","merge_groups":[{"colors":["Green","Burnt Orange"],"target_part":"top tray surface","reason":"orange is just a thin boundary strip"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/soap_dish_037.usd b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/soap_dish_037.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/soap_dish_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4984900
diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/textures/material_0.png b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/video.mp4 b/dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/video.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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+size 296957