diff --git a/.gitattributes b/.gitattributes
index e3fa1fb7b202767c5d2024c6b7a3ca903022c12a..9443579942fdf4cc7657d832fecdbde68d7453b7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5227,3 +5227,5 @@ dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/lotion_
 dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/46acb34858fd5f3c9aef1d7b8e012376/mesh/soap_dish_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/46acb34858fd5f3c9aef1d7b8e012376/soap_dish_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/sponge_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a420920690d2e3ce892309ad1af6461d5ba38b0b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_032_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 sponge_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2825a225332667b22d2bed78abb4f15f6a9095c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032.glb b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f7703226e39360fd3745dd36e375f6b5d7cdad63
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aae735d1d8c585ed347521a4041380664febf3aa3857fa462acfaf0e69e9362c
+size 26102988
diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032.mtl b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d26d9ca574d9e2151516158b6349de461cc58f29
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_032_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/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea39ff81ae73f5833bcbbb7e25bcca926a4442e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032.obj
@@ -0,0 +1,117738 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_032_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032_collision.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91fdc0b7730b0d0b3d4344583ab89b645fb7742c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032_collision.obj
@@ -0,0 +1,6408 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mesh/sponge_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2825a225332667b22d2bed78abb4f15f6a9095c
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2825a225332667b22d2bed78abb4f15f6a9095c
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032.obj
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index 0000000000000000000000000000000000000000..56ddd164a2ab504fd95c761266958390b78dd965
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+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032.obj
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+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7809274db2292e85c08db89c8b88da599bb5904a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision.obj
@@ -0,0 +1,6408 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_0.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c78eac5a58e9fd12da6e9bef36a0f5571a6a27b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_1.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46247c01b9d0f134c03c19b35162665ba313932c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_2.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..468e430f9fce5a1f886fbb7907ae3a8332506fc8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_2.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_3.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72175ab2b55e2b9ed9e77a5b9a9552d99b705b9e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_3.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_4.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28ab2d96048672bb52c7d002d187834620a6495c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_5.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c50c9cea7d25ccbccbc0fa88a202bc2629497ad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_5.obj
@@ -0,0 +1,1048 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_6.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6776e5c18abd2b424167546e870a54ab9de4d82
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_6.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_7.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fad75fda09bef60a43d94e04ce3fb6919107d389
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_7.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_8.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4c92bf8e12f95588c8aaa5f133a2b1281c12ef7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_9.obj b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f2e0964b91ed23c9e48bf9e411c1cb444802eb4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/mesh/sponge_032_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/sponge_032.xml b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/sponge_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ae557bf1b681cd087c476fb25584f401d4bfc533
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/mjcf/sponge_032.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_032">
+  <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_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_032_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_032_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_032_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_032_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_032_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_032_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_032">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/sponge_032.urdf b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/sponge_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e8e46ecaebc3196b2d7836d5c3c81cffddd9f80
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/sponge_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_032">
+   <link name="sponge_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_032.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_032_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>4805cafb517d5452a2a47d67687922d7</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>blue sponge</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>organic</material>
+         <description>rectangular blue sponge with wavy top and porous scrubbing surface</description>
+         <min_height>0.0250</min_height>
+         <max_height>0.0250</max_height>
+         <real_height>0.0250</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170731</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023285 -0.035417 -0.010679</min>
+            <max>0.023418 0.035069 0.014321</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/4805cafb517d5452a2a47d67687922d7/sponge_032.usd b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/sponge_032.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/sponge_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:837d11d22543282bbf1088e6b16ac74b016fe1aa30a95527e0d44f0a962ee8d2
+size 4965479
diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/textures/material_0.png b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 22604258
diff --git a/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/video.mp4 b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/video.mp4
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:5e9059858a68228cd6e9ea63c1b9f04838384c4fe27db8314065152edfc7b329
+size 549416