diff --git a/.gitattributes b/.gitattributes
index 0daa936c4fc573cadc9b4671239f29c99d4bf98b..ba14a3b736a095e201d4967697e8eeafd6322388 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/shampoo_bottle_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/hand_sanitizer_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/hand_sanitizer_017.urdf b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/hand_sanitizer_017.urdf
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diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017_collision.obj b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e37c11e2cddcc93cd8b1dfebc1daabac649891
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017_collision.obj
@@ -0,0 +1,15090 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b27a44299cacce42a4ae17c7fa8c90bccdef49e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25e17252e8138e6294d021d3d852df5be2239a6d7be4783d6675c779d94ae0df
+size 11120602
diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c6236c40429dafaa6f8918ab32676c1d6a60ee4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_017_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b27a44299cacce42a4ae17c7fa8c90bccdef49e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25e17252e8138e6294d021d3d852df5be2239a6d7be4783d6675c779d94ae0df
+size 11120602
diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/hand_sanitizer_017.xml b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/hand_sanitizer_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3feb2d7bbcf9417e7849e673f828e947d7af1b6c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/hand_sanitizer_017.xml
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diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017.obj b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46fd4a4ddbc79ff86f75d1c4787d8ad52645a836
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017.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/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision.obj b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d47d70e930a2d8d6783adec5fa9dcde39777962
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision.obj
@@ -0,0 +1,15090 @@
+# https://github.com/mikedh/trimesh
+
+o hand_sanitizer_017_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_0.obj b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c509252fb110a2994589677a0bd94458c525336
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_0.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_1.obj b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06ec15bf20ecadf027c34c9683a0148d318700d2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_2.obj b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c90361d9245ff937f3cd2269fec2ff6937aaa2a1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_3.obj b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1099c6896af2b6026a77c70037ba3ed819e69324
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_3.obj
@@ -0,0 +1,12352 @@
+# https://github.com/mikedh/trimesh
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