diff --git a/.gitattributes b/.gitattributes
index 67e6094a0409f44f56bd01fbf0539b180db2541b..87b50bddca524e197842dac23b0cea042ff66546 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2345,9 +2345,5 @@ dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sp
 dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/93f8a20a38015789a32748f4cbd171df/mesh/shampoo_bottle_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/93f8a20a38015789a32748f4cbd171df/shampoo_bottle_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/soap_dish_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/soap_dish_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a7d4ab6be67f798c1ca18b48ae545959fea2a983
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_006_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.glb b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6a9a4fdc82ff7d68ebe6d71dbb6569ae07aa0a31
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.glb
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.mtl b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..570fc9f6b4a2da8a721fec5bed7a9267e0be081d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.mtl
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+newmtl sponge_006_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ff8595a113d1fe446dce4bd2fc2b5f69f24491d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006_collision.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a682a13bd548ea2f24892c3d4b0f148591e213be
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131db1051a1ea2b925c5d2e1f44eec1618d5be01
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision.obj
@@ -0,0 +1,16803 @@
+# https://github.com/mikedh/trimesh
+
+o sponge_006_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_0.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d9a7fba6a7f5efe9b0f295dd4ad8dedbb84b045
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_1.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a16bbca6c981dc862c98e81b1ee6f98d3f81306
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_10.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd08ae9eab8492a785c1d997f9e6870ab7c81b5e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_10.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_11.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e76065fc164dcffe3d8df5df9b9008b53c2720e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_12.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94298a3f92368ec51483913d83cd5a9a134271d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_12.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_13.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cea7acfcfb2ab19184be4b3b1ee40797097f4152
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_13.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_14.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d87072cea45664ffff7ae8a236aa0c19b78dbf34
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_14.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_15.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b75d9ada7dfc75bd29109131a2a847f068ee3103
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_15.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_16.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ed16622765df8ac2a2e0d17b98f593cd756f28
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_16.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_17.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b280aa5d5a0239934b9346944ffa6acdd7c1a442
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_17.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_18.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adf198972183388abdc51d7cd06cbf60d1518e81
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_18.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_19.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d069fafc5437fafc1aeaca3c5277214d5e98af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_19.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_2.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9755787415e3d01e20adba7c7122337065fb24f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_20.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49bc3930adcbe67d92f92b3eb0c8f5d278749ed5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_20.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_21.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..856b2c122581660321842c63fde30b1b9102e4be
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_21.obj
@@ -0,0 +1,1372 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_22.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81315ca58665b77da39876b40a717b084b6a1926
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_22.obj
@@ -0,0 +1,1639 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_23.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d5d1863216526b868a9f73903f9d43794ec1d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_23.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_24.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aab83f7a7679e17b7d9c76e6a3d3e5d13b811da2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_24.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_25.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7e32658dc6bc74450a2698b794630fe1ab3d2da
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_25.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_26.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2ef4d1a549fa93aecc19c2ec742bc01af730f5b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_26.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00692908 0.03270824 -0.00194061
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_27.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8983d4d60a29dff026ab4dba3ff9e9124ba67bb4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_27.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_3.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bec9c9d0fe61a36259a657fbb1f1c6eea4eee05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_3.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_4.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8795658bdd17f63c7352b0df1233f1186c982808
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_5.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f74e7e1d740dab5301286f711bbcfa84dc19b57c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_6.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6291bdefa6c4dc211fd3e8530ae7668431f6a04e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_6.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_7.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1120e85b109e73ae050bfae631c1ea5bfe50a37b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_7.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_8.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54842e027b47e51b79e43f0f8c5fb77e493c07e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_9.obj b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83c1e3a32900ea26cb14012b86b426244ef791e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/sponge_006.xml b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/sponge_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3deb35c71d343d42559f704aec2d8844e94ab7fa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/sponge_006.xml
@@ -0,0 +1,70 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_006">
+  <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_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sponge_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sponge_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sponge_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sponge_006_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sponge_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sponge_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sponge_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sponge_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sponge_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sponge_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sponge_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sponge_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_006">
+      <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" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" 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/9417235f291a5813a25add8266cf409a/sponge_006.urdf b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/sponge_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2406166d1e2a39a419ae7c84f2a699a3f4fe9200
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/sponge_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_006">
+   <link name="sponge_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_006.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_006_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>9417235f291a5813a25add8266cf409a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>cleaning sponge</name>
+         <color>beige</color>
+         <shape>flat</shape>
+         <material>organic</material>
+         <description>soft, porous sponge with rounded edges and uniform texture</description>
+         <min_height>0.0229</min_height>
+         <max_height>0.0229</max_height>
+         <real_height>0.0229</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230050</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>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/sponge_006.usd b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/sponge_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..17a219e86d07c40405b78b5dca5538e164ccaa62
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/sponge_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8432bf916f5c611a24768ca10fe03526641535503b7c442130bc0a20532f6d98
+size 4853408
diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/textures/material_0.png b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f930c104039d9ab1e271228db909f5676ac8d6ac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3022a1cedaba1c0e095c0b26a9713a5d2f0c5881ca44a585d5ec79a22a2140c
+size 8187041
diff --git a/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/video.mp4 b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da549737b1208ad654b30c39872720b1a003fd26
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ca15b166ab305242448033dfc5b1eb638fddbb4da097c4b73a5541770809661
+size 108383