diff --git a/.gitattributes b/.gitattributes
index b36e69c41f1e05dde4322dcdc707daa3f560b633..730e218e2e6bfcc34b800b6ef52e012076708363 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5229,3 +5229,5 @@ dataset/bathroom_supplies/bath_products/46acb34858fd5f3c9aef1d7b8e012376/mesh/so
 dataset/bathroom_supplies/bath_products/46acb34858fd5f3c9aef1d7b8e012376/soap_dish_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/lotion_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/mesh/lotion_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0434e79e55510685f034b39684886f77bbd60ad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_036_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_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2c05d563509145ae461f588cd20f519c83e0c7d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90e0f4f9f4ec1b2504615039b926de1eb9981dac73245f8c4ae794aa4356128f
+size 30019481
diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.glb b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..619cf22d608e5feb1f8138e5d22e3e59dcbf5ea2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd56bd61113947be6ef9d9e46069031abaead90cacd5e399d6218db45ceb37c
+size 33531648
diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.mtl b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6068727c71c108f4541ded1629d4acf47605f7a0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_036_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/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd91696c41b35b57b45f03e5d07fbeb9a824110
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.obj
@@ -0,0 +1,140102 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_036_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036_collision.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..512be8842c8c85dbf87e8221fc7402287aa4b0cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036_collision.obj
@@ -0,0 +1,5379 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44e07770e0db4fa4cec24644c558bda19240922a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision.obj
@@ -0,0 +1,5379 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_0.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77975b7d316bdcb59ed995129172e7ff26a1e97
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_1.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11d05ad1a261ec600eacd54ddc1061e9de4a06d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_2.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f540026eb0cc53e18b00991e88aa0d5157bdc3c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_3.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4320d2be399daedb59015025b84dec68fce33670
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_4.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1083609fe5950e643e746794e887c3da06386e7a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_4.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_5.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2fa7521d33eb1f284a40977f4fb3a91703f6ff3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_5.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01847289 -0.01032398 -0.00602043
+v 0.00459719 -0.01032398 -0.00602043
+v 0.01805859 -0.00249219 -0.00602040
+v 0.01804637 -0.00249220 -0.00340239
+v 0.01803957 -0.00249220 -0.00222822
+v 0.01835200 -0.01032403 0.00952467
+v 0.00459719 -0.00249219 -0.00602040
+v 0.00459719 -0.01032404 0.01150784
+v 0.01764429 -0.00249224 0.00952470
+v 0.01751253 -0.00249225 0.01044045
+v 0.01767282 -0.00494337 0.01070074
+v 0.01745548 -0.00494337 0.01137865
+v 0.01783174 -0.01032404 0.01076439
+v 0.00459719 -0.00249225 0.01142173
+v 0.01190384 -0.01032405 0.01226253
+v 0.01312501 -0.00737994 0.01291798
+v 0.01312501 -0.00616243 0.01310713
+v 0.00459719 -0.00981649 0.01154717
+v 0.01729247 -0.00249225 0.01102847
+v 0.01741337 -0.00426102 0.01131123
+v 0.01746091 -0.00616242 0.01138988
+v 0.01671517 -0.00249225 0.01187679
+v 0.01621665 -0.00249226 0.01247792
+v 0.01620986 -0.00249226 0.01248541
+v 0.01689583 -0.00494337 0.01196480
+v 0.01741337 -0.01032404 0.01129810
+v 0.00459719 -0.00736306 0.01163332
+v 0.01312501 -0.00494338 0.01308466
+v 0.01312501 -0.00372511 0.01294609
+v 0.01312365 -0.00249226 0.01279440
+v 0.01255721 -0.01032404 0.01224755
+v 0.01434618 -0.00737994 0.01283933
+v 0.01434618 -0.00616243 0.01309215
+v 0.01434618 -0.00494338 0.01311087
+v 0.00459719 -0.00737993 0.01163332
+v 0.00459719 -0.00859821 0.01162209
+v 0.01688225 -0.00616242 0.01197790
+v 0.01628457 -0.00494338 0.01253971
+v 0.01557414 -0.00249226 0.01263897
+v 0.01556599 -0.00494338 0.01283746
+v 0.01627234 -0.00616243 0.01252285
+v 0.01621393 -0.00684709 0.01248539
+v 0.01550079 -0.00730404 0.01258651
+v 0.01504981 -0.00805310 0.01249101
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+v 0.01434618 -0.00250683 0.01283560
+v 0.01313859 -0.00249226 0.01279627
+v 0.01556599 -0.00616243 0.01279814
+v 0.01556599 -0.00249226 0.01264084
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+v 0.01434618 -0.00249226 0.01283373
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+f 39 49 40
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+
diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_6.obj b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60894cfde292cffcf306c1f973130eed8bcca188
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_6.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.01834783 -0.01032398 -0.00602043
+v -0.01838382 -0.01032400 0.00080909
+v -0.01741884 -0.00249222 0.00247495
+v -0.01716241 -0.00249219 -0.00457932
+v -0.01709718 -0.00249602 -0.00602040
+v 0.00459583 -0.01032398 -0.00602043
+v -0.01837932 -0.01032401 0.00198386
+v -0.01740085 -0.00249224 0.00836390
+v -0.01707918 -0.00249219 -0.00574087
+v -0.01707693 -0.00249219 -0.00575409
+v -0.01687224 -0.00249219 -0.00602040
+v 0.00459583 -0.00249219 -0.00602040
+v 0.00459583 -0.01032404 0.01150855
+v -0.01837258 -0.01032401 0.00247492
+v -0.01827360 -0.01032403 0.00835065
+v -0.01737835 -0.00249224 0.00952545
+v 0.00459583 -0.00249225 0.01142170
+v 0.00459583 -0.00981649 0.01154632
+v 0.00292454 -0.00859822 0.01258889
+v 0.00284132 -0.00956656 0.01253222
+v 0.00273560 -0.01032405 0.01245856
+v -0.01823087 -0.01032403 0.00900980
+v -0.01705894 -0.00249225 0.01055668
+v -0.01819263 -0.01032403 0.00951220
+v -0.01808916 -0.01032404 0.01007692
+v -0.01805766 -0.01032404 0.01020724
+v 0.00278508 -0.00539574 0.01249069
+v 0.00285481 -0.00616243 0.01254168
+v 0.00293354 -0.00737994 0.01259456
+v 0.00459583 -0.00736306 0.01163321
+v 0.00095409 -0.00249226 0.01265690
+v 0.00163790 -0.00290704 0.01252281
+v 0.00184934 -0.00372511 0.01261158
+v 0.00220699 -0.00497099 0.01267389
+v 0.00459583 -0.00859821 0.01162188
+v 0.00459583 -0.00737993 0.01163321
+v 0.00213726 -0.00859822 0.01293074
+v 0.00224748 -0.00991004 0.01274753
+v 0.00267261 -0.01032405 0.01248878
+v -0.01678901 -0.00790282 0.01129136
+v -0.01645386 -0.00249225 0.01114406
+v -0.01779899 -0.01032404 0.01049621
+v 0.00213726 -0.00616243 0.01284010
+v 0.00213726 -0.00737994 0.01293074
+v -0.00030332 -0.00249226 0.01285899
+v 0.00091585 -0.00372511 0.01288544
+v 0.00091585 -0.00859822 0.01322916
+v 0.00091585 -0.00981650 0.01317438
+v 0.00175712 -0.01032405 0.01283819
+v 0.00213276 -0.01032405 0.01271542
+v -0.01584428 -0.00249225 0.01135937
+v -0.01713317 -0.01032404 0.01114970
+v -0.01687899 -0.01032404 0.01132912
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+v 0.00091585 -0.00616243 0.01312340
+v 0.00091585 -0.00737994 0.01320272
+v -0.00030557 -0.00250683 0.01286088
+v -0.00030557 -0.00859822 0.01327449
+v -0.00030557 -0.00981650 0.01327070
+v -0.00030557 -0.01032405 0.01322159
+v 0.00040749 -0.01032405 0.01316493
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+v -0.01648310 -0.01032404 0.01137823
+v -0.00152698 -0.00981650 0.01318382
+v -0.00030557 -0.00737994 0.01321405
+v -0.00030557 -0.00372511 0.01295343
+v -0.00081392 -0.01032405 0.01320837
+v -0.00152698 -0.01032405 0.01315738
+f 1 2 3
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+f 54 57 55
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+f 55 65 56
+f 56 65 58
+f 58 64 59
+f 59 64 67
+f 59 67 60
+f 63 68 64
+f 64 68 67
+
diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/sponge_036.xml b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/sponge_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0c8b2d117d76f3330b09371aa2ca4a0a5413d894
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/sponge_036.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_036">
+  <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_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_036_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_036_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_036_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_036">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.urdf b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a869db20a454da2a13b8db81d3091169b46f21b9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_036">
+   <link name="sponge_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_036.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_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>4989dde812de5edfa946cf23d1f3decd</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>scrub sponge</name>
+         <color>yellow,brown</color>
+         <shape>cuboid</shape>
+         <material>organic</material>
+         <description>rectangular yellow sponge with brown abrasive scrubber bottom</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>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170922</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023072 -0.037432 -0.011760</min>
+            <max>0.023687 0.036067 0.013240</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/4989dde812de5edfa946cf23d1f3decd/sponge_036.usd b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ca5c7fdfbe15dcb1e81a58ba67acee1542712858a05ab5b7247d62c15dc54ae
+size 4953544
diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/textures/material_0.png b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90e0f4f9f4ec1b2504615039b926de1eb9981dac73245f8c4ae794aa4356128f
+size 30019481
diff --git a/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/video.mp4 b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6506fa6c126964af12e12221edef0238bc4169a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c7cf973c2da0af34acb9c7af6dd50cc16edd6e91a8b5fb95a73746176bbce4a
+size 964497