diff --git a/.gitattributes b/.gitattributes
index 83b6b02f1cd61324dbe72fd8bf3adc3b41a110c0..74304903231d9a1f1361015dd3fbd991eaa564a3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5233,3 +5233,5 @@ dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sp
 dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.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
+dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/sponge_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd550596b39e0623a9d04c79ee5a4493ed01ef6d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7177a4e6c9ed3e485cea4c3e6af5bcf40c35b844
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa73b0b7a709fa208d71cefe9dfceab15fa4a60a4be4c1061f690128600f9b88
+size 10259825
diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.glb b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a2915fb85a5041ad0673475b3ebedcd6d1fd615c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ded2b16ab9a4b3b30d728089ebc8d4006eddb4c7cfc8b8190172847feb71c9e9
+size 13421368
diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.mtl b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97922474dcfaa45cb05ebd4ebdb1da6905cd65c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_004_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/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.obj b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22851ca3b330fcfc4ea1034ea8c1005077687548
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.obj
@@ -0,0 +1,106174 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004_collision.obj b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8fbd10fd187c4798e91e34881dcf9d5256692c0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004_collision.obj
@@ -0,0 +1,18079 @@
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diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10259825
diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7177a4e6c9ed3e485cea4c3e6af5bcf40c35b844
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa73b0b7a709fa208d71cefe9dfceab15fa4a60a4be4c1061f690128600f9b88
+size 10259825
diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004.obj b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a88f97b82a0d1ed3b21e91a6019e3f2aefd364
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+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004_collision.obj b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf87affd677faf6de088c01de5b3915f5c879631
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004_collision.obj
@@ -0,0 +1,18079 @@
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diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004_collision_0.obj b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..456b780c0acd4337ee87afad7f2846212507bf30
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004_collision_1.obj b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc55238625079b77754b61d26867ed877e73c0e2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/mesh/sponge_004_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/sponge_004.xml b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/sponge_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3136782c1f0f9fc441d7c28042a7bb641df50ee4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mjcf/sponge_004.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_004">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/sponge_004.urdf b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/sponge_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..26140d6120fb668a694487a9b4fabf49131ff37b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/sponge_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_004">
+   <link name="sponge_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>52269e5ccf0a5ec6b7c82e8522747211</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>purple sponge</name>
+         <color>purple</color>
+         <shape>cylinder</shape>
+         <material>silicone</material>
+         <description>soft, rounded sponge with textured sides and smooth top and bottom surfaces</description>
+         <min_height>0.0302</min_height>
+         <max_height>0.0302</max_height>
+         <real_height>0.0302</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230012</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>3</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/52269e5ccf0a5ec6b7c82e8522747211/sponge_004.usd b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/sponge_004.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/sponge_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bdeb7db1882a5061ed29b4daf310dad8c0613aa0777d7b3a60e35dedd4b4124
+size 4784232
diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/textures/material_0.png b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa73b0b7a709fa208d71cefe9dfceab15fa4a60a4be4c1061f690128600f9b88
+size 10259825
diff --git a/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/video.mp4 b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c499b76ebbb5fae99ed446a806b27cb6fefb447
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:154fe0e086c451f455ec0d1ea10073ef46b3b79723a1d9930d1e1ebbcc172fff
+size 383764