diff --git a/.gitattributes b/.gitattributes
index d2abb580b3a323fe897db9a2c2f97c44fe01173f..ab75b98dcb103f00a9c6adae67efc4b89d00ca9b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2447,7 +2447,5 @@ dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/lotion_
dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/sponge_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/hand_sanitizer_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/sponge_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/hand_sanitizer_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/hand_sanitizer_006.urdf b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/hand_sanitizer_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..890f1890c427455da9597343c9a655b9fb6bf803
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\ No newline at end of file
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new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/hand_sanitizer_006.usd
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..ff79390b002922e4569aa15dd93d6ac5fb608d9a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006.obj b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bb95fd05fb7eac134cabce19835cd70b348e9fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006.obj
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+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006_collision.obj b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d7b2a91a64644fbefa20c657499234e906de0f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006_collision.obj
@@ -0,0 +1,14311 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fbfae137a6c8783c5c7a8dd6d24f316e58ca206
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/hand_sanitizer_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b754e0cbc3e4bcf9aa889ca03617c14b8986580ed8254a376f1c4ec6a2834ec6
+size 7421567
diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7957ab066e243389ddc80f3bd6edc160e5071e3a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_006_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/f37084fd098659d5af8b38782bc423df/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b754e0cbc3e4bcf9aa889ca03617c14b8986580ed8254a376f1c4ec6a2834ec6
+size 7421567
diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/hand_sanitizer_006.xml b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/hand_sanitizer_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6078f50bc438ae4630a59d4284766a91e7f833d9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/hand_sanitizer_006.xml
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diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006.obj b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fe0af7ef0fbcab99fdb21b8fd59f44517570058
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006.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/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision.obj b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2a48f7f586feaa2c105db7d9f8aa295a0d3c60
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision.obj
@@ -0,0 +1,14311 @@
+# https://github.com/mikedh/trimesh
+
+o hand_sanitizer_006_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_0.obj b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc359f349a1ad44d765909bf9932c0fa53bac51
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_1.obj b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be0c5d9cb2b51e0b6a81c3b9fc9eef78c50c5026
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_2.obj b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d6ca963e0a4b0d357a57ae39c963f02397d84c3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_3.obj b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15b879bb9503cff46ca5027934c7e5bacd2452a6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_4.obj b/dataset/bathroom_supplies/bath_products/f37084fd098659d5af8b38782bc423df/mjcf/mesh/hand_sanitizer_006_collision_4.obj
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