diff --git a/.gitattributes b/.gitattributes
index 9c6ed2855781e1310ffa14349b09137cb2aa14fe..2b9bd77f53ce0226d26ed0347c6d7326bf1b0479 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5211,3 +5211,5 @@ dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/hand_sa
 dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/lotion_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/mesh/lotion_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/sponge_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a13d8711d63d3c170edaecb014dfda385212f5cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_016_geometry_Looks_material_0
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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/3dc8c54e1a15525fa831c888bb017fd4/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..09ca40d459cadb93795c199727d637a8373f9de6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/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/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016.glb b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..39a452c7dc0dec2b270ce1a512db66ab658162fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016.mtl b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..201b309ec78f169469b7b642549a344112830f11
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_016_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/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5dcafba5959531776a4acc0313bf9312b4b7e0a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016.obj
@@ -0,0 +1,116062 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016_collision.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f7d37db21cabaf4d34f6f6d098da6ae7f410cd3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mesh/sponge_016_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..09ca40d459cadb93795c199727d637a8373f9de6
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d2c8d59db330254deff5d60485c8aa32c86dff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision.obj
@@ -0,0 +1,7933 @@
+# https://github.com/mikedh/trimesh
+
+o sponge_016_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_0.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670b5724a07f0b4be06e58417d66b3cb6b63f783
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_0.obj
@@ -0,0 +1,964 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_1.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82df6b7f67d3121dbec8433eb5abb38e39ccbce4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_1.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_10.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97d8f458b3ad17569d5d1f5e3e07917bb346cde1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_10.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v -0.03299139 -0.00658671 -0.01296190
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+
diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_11.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09472bd5cd7a0df3e3c1303b34f221d8cd8d43e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_11.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_12.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d9d6bb5a44d381046b6e2d2a243ef4da7dd48e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_12.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_13.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..986ca38b1698f86ccba8e1876bd7c80d00ad8531
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_13.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_14.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12bfa7a9983c33ded879b8d945030286ea49ba8f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_14.obj
@@ -0,0 +1,1141 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_15.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d682672c56a3d32a26c271393fed9edd4eead3e
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_16.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8942da537b58383f486d67413d6984967d8ce59
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_16.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_17.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f43a1f488a4e13795fdacebfd1cb29d8c8b10fb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_17.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02598194 -0.00881139 0.01342923
+v 0.02598194 -0.00735613 0.01342406
+v 0.02538857 -0.00735613 0.01342923
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+v 0.02392904 -0.01026665 0.01342664
+v 0.02392904 -0.01317634 0.01337747
+v 0.02598194 -0.01463160 0.01329208
+v 0.02392904 -0.00658845 0.01341890
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+v 0.01663283 -0.01026665 0.01344734
+v 0.01955047 -0.00658845 0.01343442
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+v 0.01161870 -0.01172109 0.01338783
+v 0.01161870 -0.01463160 0.01331278
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+
diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_18.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ae09ed77475365245f52797fe1ed48ec878cf0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_18.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03378834 -0.02346886 -0.01297378
+v 0.02598387 -0.02346886 -0.01297119
+v 0.03378834 -0.00845424 -0.01297890
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+
diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_19.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9b8a6a9beb1f16de3cd59f387f3c64796ea4c6c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_19.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.03378834 -0.02347061 0.01344412
+v 0.03268673 -0.02347061 0.01344412
+v 0.03268673 -0.02627689 0.01344670
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_2.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b8f505bdbcc5656d3367f13f3e6b2ec59304a30
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_2.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_3.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b462717b6d80b3a13a6b780fdc73e3b168977e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_3.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_4.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20934a5f9ea35bba84f378d96e5ae21b0235afb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_4.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_5.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d020f6a89c4a4ac0058548572a837c99e60c1453
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_5.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_6.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59e02f7c4192367f33e2356fbb6e39805fde58fb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_6.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_7.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88c10baca69366137e68d0ce2e7a0bdc9d7fcd4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_7.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_8.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..407b3627426966c2b1d2f5bbb8760bb01b5180dc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_8.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_9.obj b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..998dae0d0fe4e087b217f168e6e482f8374f009e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/mesh/sponge_016_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/sponge_016.xml b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/sponge_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7f0b98057d5587cd2d364de662c35424bb258de1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/mjcf/sponge_016.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_016">
+  <asset>
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+    <mesh name="collision_mesh_0_0" file="mesh/sponge_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/sponge_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_016_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_016_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sponge_016_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sponge_016_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sponge_016_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sponge_016_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_016">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/sponge_016.urdf b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/sponge_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5326c4548da008538dd53e37fef6bef2444f2cd2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/sponge_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_016">
+   <link name="sponge_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_016.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_016_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>3dc8c54e1a15525fa831c888bb017fd4</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>triangular sponge</name>
+         <color>blue</color>
+         <shape>irregular</shape>
+         <material>unknown</material>
+         <description>blue triangular wedge sponge with porous scrubbing surface</description>
+         <min_height>0.0263</min_height>
+         <max_height>0.0263</max_height>
+         <real_height>0.0263</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518151206</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.044441 -0.028372 -0.012927</min>
+            <max>0.044131 0.053311 0.013400</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/3dc8c54e1a15525fa831c888bb017fd4/sponge_016.usd b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/sponge_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1810b0e6b6558879094633b2c8fa07ac874d190d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/sponge_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46cb835fe91f43fa85d3a807d307e935643c3a2c75f7d0fc577186c849f26a77
+size 4922437
diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/textures/material_0.png b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..09ca40d459cadb93795c199727d637a8373f9de6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7494ca6dffa17fce5436a2e14a388872aca98085a7910bf0e8853ddc9c5d97b6
+size 9033336
diff --git a/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/video.mp4 b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..379820ce7b57dbb30c342e27dcab937f47fb62c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3dc8c54e1a15525fa831c888bb017fd4/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9066926001ae6450a7c99b13002f49e5d02781b69a22b7dccf91b8f31b2bb8ad
+size 301337