diff --git a/.gitattributes b/.gitattributes
index 73797cce41edb68eeedfeac3bf237fa027dcd4a3..7a1ee225298280d9ab050bf480327458fe984b94 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2311,3 +2311,5 @@ dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sp
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/sponge_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..50fa4bc2f26ad8131759385908278f7b891bdf1f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_039_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..adc0d40f432b5beaa07f04b3304411d321f473bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/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/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.glb b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ae2ebc73c0920496d10b9cef9a85fe8d50fe7a24
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.glb
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.mtl b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd1cd6d12797c499ec24d7aefaba9753508f1069
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.mtl
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+newmtl sponge_039_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..337e0da91dc1df1dfbdc0f92baae541e9ab98860
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.obj
@@ -0,0 +1,122334 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039_collision.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dff07f851157a11fe1bb58b677c203a75c61d71
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039_collision.obj
@@ -0,0 +1,9346 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f45a015da482b9411f43de5a3fe34beb7ad16a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision.obj
@@ -0,0 +1,9346 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_0.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eaab6c812feca240472988b8ed8f9c2aafbee8e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_1.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a882901120e62b62edce83dc8862571077c641f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_1.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_10.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5b6dfee4706855fa20770be6d84e4c12ac918ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_10.obj
@@ -0,0 +1,556 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_11.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c01770ac780bba5bf23d8d4bcf3fbd6f066aca9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_11.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v 0.00765420 0.00859624 0.01149533
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+v 0.00647342 0.00741127 0.01139683
+v -0.00094339 0.00944283 0.00990831
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+v 0.00883283 0.01331101 0.01130082
+v 0.01953053 0.01331105 -0.00051503
+v 0.01902907 0.01330186 -0.00103090
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+
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_12.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460f352f112434c15aa57a8ea4ccf9a0465b4001
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_12.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01726733 0.00622572 -0.00053104
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+
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_13.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d77171607619d5bbbd3ca39f5bce93e50e9c42ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_13.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01358003 0.00504032 -0.01047466
+v -0.01358003 0.00622576 -0.01047369
+v -0.00296475 0.00148584 -0.01043671
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+v -0.01594037 0.00704905 -0.01046979
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_14.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad2c49421912a68912b65a006d6c3d68f79e2ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_14.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_15.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424c980175a0d3faab708d9216b916e75ecb9a34
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_16.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..171ae5ebfbc004c3ee08f577edf28058c180e055
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_16.obj
@@ -0,0 +1,907 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_17.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c891e09d7eca8224d81a445fae8899f9e0fee404
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_17.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_18.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e218e8a6d82e83859c593ae40214c93acc91d421
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00296648 -0.02339792 0.01023838
+v 0.00214388 -0.02339792 0.01023838
+v -0.00296648 -0.02339792 0.01124357
+v -0.00296648 -0.01942115 0.01023840
+v 0.00214388 -0.02339792 0.01154388
+v 0.00214388 -0.01653714 0.01023841
+v -0.00296648 -0.01941376 0.01023891
+v -0.00296398 -0.01941309 0.01023840
+f 1 2 5
+f 1 5 3
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+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 5
+f 3 5 6
+f 3 6 7
+f 4 7 8
+f 6 8 7
+
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_19.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96fd8b6ee539e3b3cc46cefed2e02ddb4606bbc7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_19.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01324518 -0.01628397 0.01023841
+v -0.01315563 -0.01747672 0.01023841
+v -0.01004148 -0.01392240 0.01124644
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+
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_2.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0b6297f9935d08eebaf0b0eecc30ec8f63090f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_2.obj
@@ -0,0 +1,685 @@
+# https://github.com/mikedh/trimesh
+v 0.00410943 0.01331167 -0.00033430
+v 0.01964374 0.01331167 -0.00033430
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_20.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bc799efb6e7e39b2a750b3d2dca8b29d12d2fd8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_20.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_21.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95889a38356999cd8e58a8a02a0aee11d10a3448
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_21.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_22.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14e07b1c228275956bc90d784b4cb7c483a04bbb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_22.obj
@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_3.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd76baede9070c55a9db4b9d14e15da69c9cde0e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_3.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v -0.01212563 -0.00352941 -0.01047556
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+
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_4.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..044c82735df7cbb8b1aacf36812f97352612085e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_4.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.01617170 -0.00352649 -0.00165688
+v -0.01604418 0.00076766 -0.00165687
+v -0.01535488 -0.00352944 -0.00165688
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_5.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c290dd2ecedd8bf057ad173b5fc003fd3dc868
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_5.obj
@@ -0,0 +1,730 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_6.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80d606246d04f7e1d067d2b65e9928875f48960d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_6.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_7.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0348f517b5d59504315f6c2745ca684e03f7af7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_7.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_8.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce01a404443513006cc0e5a832cc0829e031ec2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_9.obj b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..023c505e16bac94f9e82ca71d158e3ecbed2fcb3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/mesh/sponge_039_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/sponge_039.xml b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/sponge_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3c9d0cb2f9e36312121971c7f6ace4cf5ab25731
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mjcf/sponge_039.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <mesh name="collision_mesh_0_13" file="mesh/sponge_039_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_039_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_039_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sponge_039_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sponge_039_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sponge_039_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sponge_039_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sponge_039_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sponge_039_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sponge_039_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_039">
+      <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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/sponge_039.urdf b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/sponge_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6f084f3722052de1ea7f6092ab177e371f08727b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/sponge_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_039">
+   <link name="sponge_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0125" />
+         <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>2cdbd19877ad5bf2ac1f9bbcd2d335b5</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>green sponge</name>
+         <color>green</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>green porous hourglass sponge with rounded sides and textured surface</description>
+         <min_height>0.0250</min_height>
+         <max_height>0.0250</max_height>
+         <real_height>0.0250</real_height>
+         <min_mass>0.005</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171117</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021973 -0.036300 -0.012435</min>
+            <max>0.021942 0.035708 0.012565</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/sponge_039.usd b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/sponge_039.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/sponge_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b83edb9a95e295d58fb50d1c38bf9b3b8c57c59c634e4097a46aab8a58100384
+size 4996234
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/textures/material_0.png b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..adc0d40f432b5beaa07f04b3304411d321f473bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12a2b98fd7d47e54f3d2a532bdc775077a0051c7948d63576b6af67530f89a46
+size 16514080
diff --git a/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/video.mp4 b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..612fd3ab2e8289bc49810b39dcce0c9e59743a67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c39a2a16c31ed45343f3b7c817229111d6d7b24287dba9c4f42cc2d74935a90
+size 318424