diff --git a/.gitattributes b/.gitattributes
index 497a6ab91eb7ee6ad45e45b7c9f0bb1c19a6bcef..80fac2043d48e1b553cb1dc8efe2ccb124a68050 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2329,5 +2329,5 @@ dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/sh
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dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/shampoo_bottle_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/lotion_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/lotion_005.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/lotion_005.urdf b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/lotion_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d80c1d57fe40aca9d204091413fdfd8523af0ef
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/lotion_005.usd b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/lotion_005.usd
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/lotion_005.glb b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/lotion_005.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/75f2beae0e115388a0a354660802446a/mesh/lotion_005.obj b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/lotion_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2286928a52a414f9ee820e76acf65494912c249
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/lotion_005_collision.obj b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/lotion_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..077e53a553c9a0ba5bde075496f44f83c5792992
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/lotion_005_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/lotion_005_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/lotion_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8b203deb62bd1b5d0b9e77ea6140a5ff0b040bd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/lotion_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0472d29ac37cc54378091c8703d44b3e83a21f75346f8ec4d14b17fc7ddcf8d9
+size 10436372
diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fcfdc22b7c750589d32b3d398a68cb45ef283607
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_005_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8b203deb62bd1b5d0b9e77ea6140a5ff0b040bd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0472d29ac37cc54378091c8703d44b3e83a21f75346f8ec4d14b17fc7ddcf8d9
+size 10436372
diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/lotion_005.xml b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/lotion_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f01160404ace5cf730894251ea412a4ea58bdbe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/lotion_005.xml
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005.obj b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cda678deab8906362232e17c352f962a6d9b36e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005.obj
@@ -0,0 +1,114032 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_005_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision.obj b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c0afdee720f06e1e764e96850a7e0d28b366199
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision.obj
@@ -0,0 +1,10249 @@
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_0.obj b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4441c87976aad40c95070ad1870b3eb9ab674947
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_1.obj b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7d37ecaffb8afda5e54c1ebd084c6ae720edd23
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_2.obj b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb53f28b6b860587951c714f9af36f197f4c285
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_2.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_3.obj b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f57f2aea1d6cfcdda60074c1be92d8cc0406b4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_3.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_4.obj b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d8e8469a3e3ddbce0623cd4dbbcd74dfe065c36
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mjcf/mesh/lotion_005_collision_4.obj
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