diff --git a/.gitattributes b/.gitattributes
index e39ff48436e216fa7f94dfcea7b4e11cb55862fa..7d357c43b134e4a56944d31c960e9f76a4b810a9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2341,5 +2341,5 @@ dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/so
 dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/shampoo_bottle_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6735094d8f3296c8359ad7f26361bf5048895be7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..205e8db14ab7570975e60629cbdc0ead39c98b63
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:347fb78bb8da6fa9246b4464ccf380a1ddfe2974f945aebeec77a23b77c9bfd6
+size 8435381
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028.glb b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ba3cc9cb15c788ae2fb1fc859d6ea49f22303ca7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45c783c1dc31d2d7989f8672b7e68ba455991e929e906374089fa7743b28ef6
+size 11886496
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028.mtl b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e5de230ebafe37db965ec8fc838b453c7591447
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_028_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/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1ff7f9285588a3ce889bc290e94384c5d77a509
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028.obj
@@ -0,0 +1,114126 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_028_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028_collision.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b49acd1d8ebc9ceb3c9390a85ba8fbbfddd5cf5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sponge_028_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd51840a6acea8e83bdcc2dcc27274754705879a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_0.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85a1963723252dbd78f0b6760740bb559d4151a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_1.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e26fbdc58eeb3b82e213e54fe72e6feee613a2e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_10.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98382286158402a404d3a464d0f77db10b430ac8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_10.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.01461734 0.01749241 0.01414939
+v 0.00217929 0.01749241 0.01490596
+v 0.00217929 0.01747867 0.01492155
+v 0.00217929 0.01677385 0.01571322
+v 0.00217929 0.01643703 0.01603691
+v 0.00217929 0.01571206 0.01672328
+v 0.00217929 0.01467456 0.01751494
+v 0.00284648 0.01462507 0.01747984
+v 0.00292927 0.01284380 0.01858349
+v 0.00290249 0.01281127 0.01860689
+v 0.00292927 0.01281127 0.01860299
+v 0.00295362 0.01281127 0.01859909
+v 0.00473605 0.01281127 0.01824420
+v 0.00492233 0.01281127 0.01819741
+v 0.00662806 0.01281128 0.01768653
+v 0.00689956 0.01281128 0.01760463
+v 0.00734152 0.01281128 0.01744474
+v 0.00900341 0.01281128 0.01668817
+v 0.00928953 0.01281128 0.01653998
+v 0.01461734 0.01281129 0.01328751
+v 0.01461734 0.01749254 -0.02115583
+v 0.00217929 0.01749254 -0.02115583
+v 0.00217929 0.01417046 0.01783862
+v 0.00282335 0.01281127 0.01861469
+v 0.00217929 0.01297120 0.01858739
+v 0.01461734 0.01281142 -0.02115584
+v 0.00217929 0.01281142 -0.02115584
+v 0.00217929 0.01283235 0.01866539
+v 0.00217929 0.01281127 0.01867709
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+
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_11.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d3118f991cc67ea4a3f974f8b5a701b26955bc7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_11.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.01461734 0.02108039 0.01578316
+v 0.01322816 0.02108039 0.01543600
+v 0.00217929 0.01749241 0.01490802
+v 0.01461734 0.01955999 0.01526603
+v 0.01461734 0.02108053 -0.02115656
+v 0.00217929 0.02108040 0.01225735
+v 0.01461734 0.01749241 0.01415223
+v 0.01461734 0.01857204 0.01480316
+v 0.00217929 0.01749254 -0.02115658
+v 0.01461734 0.01749254 -0.02115658
+v 0.00699818 0.02108053 -0.02116017
+v 0.00217929 0.02108053 -0.02115656
+f 1 2 3
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+f 5 10 11
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+f 9 11 10
+
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_12.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd051e71ac992d8a9de2da9448720a4742f51db
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_12.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01998730 0.01281096 -0.02115533
+v -0.01583637 0.01957638 -0.02115902
+v -0.01360193 0.01281096 -0.02115533
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+v -0.02005873 0.01705552 0.01614290
+v -0.02005873 0.01439968 0.01544251
+v -0.02005873 0.01338835 0.01514975
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+
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_13.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1176bd4238b54216b41d5349d825d9c67301a9d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_13.obj
@@ -0,0 +1,1027 @@
+# https://github.com/mikedh/trimesh
+v -0.00133726 -0.06595922 0.02003485
+v -0.00133726 -0.06595922 0.02006772
+v -0.00338312 -0.06586313 0.02006772
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_14.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daec935ed6cfea891263cf2caa2191f9ef45135c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_14.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_15.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da9451c5487d0a7b54b8e2178c16bf9f543bd553
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_15.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.02715267 -0.01921721 0.01863561
+v 0.02715267 -0.01004053 0.01700753
+v 0.02068408 -0.01921720 0.01721004
+v 0.02715267 -0.01921706 -0.02115177
+v 0.02687719 -0.01004053 0.01694521
+v 0.01857822 -0.01921720 0.01674264
+v 0.02715267 -0.01004039 -0.02114784
+v 0.01672947 -0.01921706 -0.02115567
+v 0.02715267 -0.01755960 -0.02115176
+v 0.02549777 -0.01004053 0.01662193
+v 0.01672947 -0.01921720 0.01627524
+v 0.02152888 -0.01193502 -0.02115174
+v 0.01963421 -0.01004039 -0.02115174
+v 0.01672947 -0.01004039 -0.02115174
+v 0.02360311 -0.01004053 0.01610000
+v 0.02338681 -0.01004053 0.01602210
+v 0.01672947 -0.01880935 0.01615060
+v 0.01672947 -0.01004052 0.01323718
+v 0.02180129 -0.01004053 0.01538721
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 8
+f 1 8 4
+f 1 4 9
+f 1 9 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 13
+f 2 13 14
+f 2 14 18
+f 2 18 19
+f 2 19 16
+f 2 16 15
+f 2 15 10
+f 2 10 5
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 7 9 12
+f 7 12 13
+f 8 14 13
+f 8 13 12
+f 8 12 9
+f 8 11 17
+f 8 17 18
+f 8 18 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 16 19 17
+f 17 19 18
+
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_16.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a733c5ed88c7e0e9d3d4937b5d9830434728a7f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_16.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.01629603 -0.01921810 0.01592660
+v -0.01629603 -0.00851638 0.01459710
+v -0.01791764 -0.01921810 0.01642421
+v -0.01629603 -0.01921796 -0.02115282
+v -0.02733182 -0.00851639 0.01682078
+v -0.02726268 -0.01921811 0.01854292
+v -0.02413831 -0.01921811 0.01785483
+v -0.02210184 -0.01921810 0.01740387
+v -0.01970995 -0.01921810 0.01687128
+v -0.01629603 -0.00851625 -0.02114889
+v -0.02733182 -0.01921796 -0.02115282
+v -0.01629603 -0.01562558 -0.02115281
+v -0.02733182 -0.01921811 0.01855458
+v -0.02733182 -0.00851625 -0.02114889
+v -0.01998759 -0.01401011 -0.02115280
+v -0.02733182 -0.01193577 -0.02115279
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 13
+f 1 13 11
+f 1 11 4
+f 1 4 12
+f 1 12 10
+f 1 10 2
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+f 2 14 5
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+f 4 15 12
+f 5 13 6
+f 5 14 16
+f 5 16 11
+f 5 11 13
+f 10 12 15
+f 10 15 16
+f 10 16 14
+
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_17.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6306aa17e09404068ac3b708f16c42c120944f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_17.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01672965 -0.01004039 -0.02115056
+v 0.01672965 -0.00155390 -0.02115413
+v 0.01855230 -0.01004039 -0.02115056
+v 0.01672965 -0.01004052 0.01323746
+v 0.01672965 0.01281096 -0.02115766
+v 0.01855230 -0.00155390 -0.02115413
+v 0.01855230 -0.01004052 0.01352119
+v 0.01672965 -0.00987500 0.01347809
+v 0.01855230 0.01281096 -0.02115407
+v 0.01672965 0.01281083 0.01307953
+v 0.01855230 -0.00155403 0.01377980
+v 0.01672965 -0.00155404 0.01552524
+v 0.01672965 -0.00161667 0.01551806
+v 0.01672965 -0.00214456 0.01545341
+v 0.01672965 -0.00347323 0.01528102
+v 0.01672965 -0.00364323 0.01524870
+v 0.01672965 -0.00488913 0.01494342
+v 0.01855230 0.01281083 0.01419647
+v 0.01672965 0.00260868 0.01526668
+v 0.01672965 0.00052173 0.01553243
+v 0.01672965 0.00116593 0.01545342
+f 1 2 6
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+f 1 16 15
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+
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_18.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7dd6636b0c8781cda1460a4b0e4b49964d34404
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_18.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.01672947 -0.01921810 0.01627626
+v 0.01672947 -0.01880955 0.01614783
+v 0.00284492 -0.01566292 0.01717148
+v 0.00247963 -0.01566292 0.01722058
+v 0.00076952 -0.01566292 0.01742078
+v -0.00130266 -0.01566292 0.01743211
+v -0.01629603 -0.01921810 0.01592497
+v 0.01672947 -0.01921796 -0.02115267
+v 0.01672947 -0.01682977 0.01540372
+v 0.01672947 -0.01652492 0.01526018
+v 0.01672947 -0.01566291 0.01481824
+v -0.00337807 -0.01566292 0.01720925
+v -0.01629603 -0.01818001 0.01554725
+v -0.01629603 -0.01921796 -0.02115267
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+v 0.01672947 -0.01566278 -0.02115266
+v -0.00536296 -0.01566292 0.01675976
+v -0.01629603 -0.01749863 0.01526018
+v -0.01629603 -0.01566278 -0.02115266
+v -0.01629603 -0.01566291 0.01423277
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+
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_19.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40429f874f07d346bda5e25d13b9daee492b8dda
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_19.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01855248 -0.01004039 -0.02114996
+v 0.01855248 -0.00273046 -0.02115371
+v 0.02586045 -0.01004039 -0.02114996
+v 0.01855248 -0.01004052 0.01352104
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+v 0.02360349 -0.00155390 -0.02115371
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+v 0.02076398 -0.01004052 0.01483986
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+
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_2.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4af6fb79c8f6f4f61683daa900f98840d9eec22
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_2.obj
@@ -0,0 +1,2677 @@
+# https://github.com/mikedh/trimesh
+v -0.03036891 0.01281096 -0.02115736
+v -0.03451993 0.02335801 -0.02116200
+v -0.02605013 0.01281096 -0.02115736
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+v -0.03451993 0.04618960 -0.02115724
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+v -0.02829196 0.05034079 -0.02115723
+v -0.02621501 0.05034079 -0.02115723
+v -0.02005936 0.04833563 -0.02115723
+v -0.02005936 0.01282035 -0.02115269
+v -0.02189911 0.01281096 -0.02115269
+v -0.03866805 0.01920681 -0.02114332
+v -0.03642621 0.01281096 -0.02112465
+v -0.04074500 0.02335801 -0.02114330
+v -0.04074500 0.02543361 -0.02115265
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+v -0.03866805 0.04203840 -0.02115259
+v -0.03659109 0.04618960 -0.02114790
+v -0.03451993 0.04826520 -0.02114789
+v -0.03036891 0.05034079 -0.02115256
+v -0.02621501 0.05241639 -0.02114788
+v -0.02005936 0.05041123 -0.02115255
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+v -0.04074500 0.02128241 -0.02111527
+v -0.04281906 0.02543361 -0.02109189
+v -0.04281906 0.02750920 -0.02111525
+v -0.04281906 0.02958480 -0.02112459
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+v -0.02005936 0.05449199 -0.02109178
+v -0.02005936 0.01338842 0.01514975
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+v -0.04281906 0.02128241 -0.02087223
+v -0.04088674 0.01281095 -0.02020856
+v -0.04489601 0.02543361 -0.02073200
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+v -0.04281906 0.04203840 -0.02098900
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_20.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b72bde6228cc394377194361fc60b3e5fafb9af1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_20.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_21.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..568292b07994651c47086bc6df9f4d4e06abd05f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_21.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+v -0.01629603 -0.00316905 -0.02115358
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+
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_22.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4974ae69925b75282041d10dd337f03e5b8f5fa5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_22.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.02733290 -0.00851312 -0.02115009
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+
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_3.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d5a130c50464eefda89c5854772cb39723fffa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_3.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_4.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..851342558c6f0d306969d685fe12f5f472779c6e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_5.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87663144af41fb1a243bd804a641fbedb31af5eb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_6.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004542f90f1a5ec9af6257a1c75b67a6836e55d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_6.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_7.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a725d345c099dd9efe4e233b9102a6ba6f5d07a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_7.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_8.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc46a4687a78aa231d07797c22fb9aed2af01f52
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_9.obj b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a8fb6d8a6faee27033dd448a52a34ccfb3f574
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/mesh/sponge_028_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/sponge_028.xml b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/sponge_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..50a0f0537a03e812b247a50e725ce57f6364654d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mjcf/sponge_028.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_028_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_028_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_028_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_028_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_028_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_028_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_028_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_028_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_028_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sponge_028_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sponge_028_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sponge_028_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sponge_028_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sponge_028_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sponge_028_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sponge_028_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_028">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" 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/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.urdf b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b7ce5ca51625f12f84dcdf33257f9a07e4a93701
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_028">
+   <link name="sponge_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>8d9ea5d0a7d0545f9c570bd3fcb5f36e</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>flower sponge</name>
+         <color>pink</color>
+         <shape>flat</shape>
+         <material>organic</material>
+         <description>pink flower-shaped sponge with textured top and rounded center</description>
+         <min_height>0.0478</min_height>
+         <max_height>0.0478</max_height>
+         <real_height>0.0478</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518151820</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.063345 -0.065686 -0.020865</min>
+            <max>0.062803 0.060433 0.026890</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.usd b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef487defb9158fef3fdad616e676ebfe223157451115bb66416b5af8dfaec3d
+size 4980873
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/textures/material_0.png b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8435381
diff --git a/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/video.mp4 b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/video.mp4
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:60dd04833ff7f492b3d13bef08c91a20ee9c5054e5ba8315bfea87a73cbbbede
+size 171274