diff --git a/.gitattributes b/.gitattributes
index 744f22999768cb7e6c0bc51233bb42f4f16a5fe5..83b6b02f1cd61324dbe72fd8bf3adc3b41a110c0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5231,5 +5231,5 @@ dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/lotion_
 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
-dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/shampoo_bottle_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/sponge_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e251b26b942fc815e381fe7c4f24ba89295b2203
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea77aa6a61c0c10c5eee69be9bf954ef48c213c1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38511e320a42e2010ecbadbe37308a349add34a85718f151ca7ccd26b881f03c
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.glb b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a3401867cb2af7e0c06d54694905e037ce7d57b3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6279f1c4860a47f34caba391f116015f802a7770cc80e439cb1d90ea5690ea8d
+size 16353272
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.mtl b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..19dcacb0466a481e0d18683c6f55a9049522af2c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_003_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/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a5b1ace78913e9cb9614902810d33b1ac234d67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.obj
@@ -0,0 +1,106408 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_003_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003_collision.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf9ab4f69b29bbb1ffca5711b3dea2dd98e89966
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003_collision.obj
@@ -0,0 +1,7734 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f1f6553e8559c2a729dbbdcdac1f131c2188426
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision.obj
@@ -0,0 +1,7734 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_0.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6b1122c0ba123084f98a7934e87cf622ea8039d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_0.obj
@@ -0,0 +1,187 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_1.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48892c89da79d1b681d8fe174963b304b4d386a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_1.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_10.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faad0996b710f694b6b99bb1084f80b56c627677
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_10.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+v -0.00417427 -0.01330782 0.01400984
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+
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_11.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a807f108d522d6766bf43182f91c1ef8736fa95
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_11.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.01143082 -0.01330929 0.01399681
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_12.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df7fb8924618617c2c5305f69ac4217363446ac3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_13.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b9382d51264214c90e01bc594eacf8feaf83e7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_13.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_14.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1afbfd2fc4abd6412343bdc95a968656eaeb7787
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_14.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.03170283 0.03562933 0.00564743
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+
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_15.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abb82d0dfd23adc72db6b2017b41eb522481888c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_15.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02235861 -0.03005511 0.01400624
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+
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_16.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2ba5e6a9d18a28a6f3645bd3e3bc6f6f61ed0d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_16.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
+v -0.01143074 -0.04483410 0.01401212
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_17.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee0db59b87b1fb285785a66e245819cfa5a55cfe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_17.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_18.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac1a809de4c739e210f34b196aaa49142c1fee2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_18.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_19.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..decf140f094077b7a88c067258e9043ed87bc7cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_19.obj
@@ -0,0 +1,664 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_2.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ddcae9c8d7b30566c9d1404d9db3e3f92ca884
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_20.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..502407217214a4ee83155ffce536f98076e68bf2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_20.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_21.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ebf89713807e882b279e1959f8a38afb2276352
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_21.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_22.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17cf187ed0b74b20ae7000b2a805cbcbd6c271cf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_22.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_23.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..882a0bbaa09e7f3dfe3c5d1939d0b23439880f4f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_23.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01297816 -0.02446174 -0.02670607
+v 0.01297816 -0.01363412 -0.02671002
+v 0.02235861 -0.02446174 -0.02670607
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+
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_24.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a80d7517c3be384011aa8cd72f8c3cd3a7c8b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_24.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v 0.02235861 -0.02498411 -0.02670556
+v 0.02235861 -0.01330767 -0.02670552
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+
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_3.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bef8e0498d2d969ce2d190bdbca2fd9cd10264e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_3.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.02922473 0.00105599 -0.00714716
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_4.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f30b80f13edacbbf1e76c3d30fa6da329e1d6d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_4.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_5.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506d839fd4907da6bb90c0d3967d2d12210a2853
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_5.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_6.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e957aeef83ed7a9ea922b85130c5f700aeb0b2a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_6.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_7.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a5e200e4012fec351ba1814d063e508a746658c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_7.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_8.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf747bf4fd947efbe5933907da5c0539b5f61e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_8.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_9.obj b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170955c232b0f9ee62fc1f7a2999f35c6fafc8c0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/mesh/sponge_003_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/sponge_003.xml b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/sponge_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..87cc699663c66dfcb31da670bd5e9155595b6785
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mjcf/sponge_003.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_003">
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" 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/4c2f99039d545e3a88fe4471817ea399/sponge_003.urdf b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/sponge_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f86f5714365dbf46928bd094ff8c4531f08687ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/sponge_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_003">
+   <link name="sponge_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>4c2f99039d545e3a88fe4471817ea399</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>cleaning sponge</name>
+         <color>beige</color>
+         <shape>cuboid</shape>
+         <material>organic</material>
+         <description>porous rectangular sponge with rounded edges</description>
+         <min_height>0.0405</min_height>
+         <max_height>0.0405</max_height>
+         <real_height>0.0405</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225942</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/4c2f99039d545e3a88fe4471817ea399/sponge_003.usd b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/sponge_003.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/sponge_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26368a430f922e9c12baa1c57cfb165489abf336685e09573863854ee6595352
+size 4685878
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/textures/material_0.png b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea77aa6a61c0c10c5eee69be9bf954ef48c213c1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38511e320a42e2010ecbadbe37308a349add34a85718f151ca7ccd26b881f03c
+size 13381734
diff --git a/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/video.mp4 b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1cb12a7637d8e78b65b14b548b0abdc4ec6c9f1f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37717d743d8f9693bff6378eec5fc4d9227b403d3de27671a7449ebb05b2e79e
+size 193540