diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2da4b1efc5745ea67e97f6a6d16b75ad7fcd5db8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6dcbc64803f5145663630e1b452bc2ebfd2d581f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d4ae815a2ad70badcb4b5f17a6f8b373252fc2d73ea9c64a0534ee9b353d7e2
+size 22008705
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.glb b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7c60381b4ea1949ab6c61fa48d63132ecfd6c7d2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65c5984df345e5df0831f1dd76cbda6e7eea246cdb8d25a8cce0bed1d7fa45c6
+size 25491920
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.mtl b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..492a1392e45a92c47531afcafedde92b22e22883
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_037_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/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1b5ccdc9c59af3c503eafc7886754972c7c5442
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.obj
@@ -0,0 +1,129148 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_037_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037_collision.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78be04a29d481ace700a20dbd038e2e281dba401
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b04ff57ef9c6421637654c94a8bf4539e2d92b84
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision.obj
@@ -0,0 +1,5246 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_0.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5e4d03394315868a79c3a12cf12736ae54f2a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_0.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.01901536 0.02933747 0.00591429
+v -0.01901536 0.03033747 -0.01231540
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+
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_1.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e0633e0ae185a5306c5fb8051950b6da7e677ad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_1.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_10.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb64ed027a7f254fdd86997915178d29a25de54
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_10.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_11.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a247aa58d55e032fc4e2995603571caff97940
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_11.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_12.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd31314d8d50ab809f5474473b85d21df8aa4914
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_12.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_13.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..879d5f37997ef68212e4a8167a366e38fec603af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_13.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_14.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f65b72a55c673a6b13e88634b2334fe97358a905
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_14.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_2.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca2944aea768297773d7591c89bad2e2856ec61
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_3.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a95e2d3ad754cfb8af44f6b1aec1477a08b0a1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_4.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653308bef8eb8218a18a6425782c1810161ecc67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_4.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01897805 -0.02288668 -0.00794717
+v -0.01897427 -0.02450910 -0.00794718
+v -0.01912914 -0.02288669 -0.00551065
+v 0.01902916 -0.02288668 -0.00794717
+v -0.01917825 -0.02450911 -0.00454228
+v 0.01823970 -0.02450910 -0.00794718
+v -0.01917447 -0.02381012 -0.00184035
+v -0.01908004 -0.02288670 -0.00184034
+v 0.01922558 -0.02288669 -0.00620586
+v 0.01928979 -0.02450911 -0.00551066
+v 0.01892717 -0.02341160 -0.00794718
+v -0.01917447 -0.02450912 -0.00184035
+v 0.01899894 -0.02450911 -0.00646471
+v 0.01934268 -0.02288670 -0.00184034
+v 0.01928224 -0.02288669 -0.00551065
+v 0.01934268 -0.02450911 -0.00462357
+v 0.01926713 -0.02450911 -0.00558658
+v 0.01938800 -0.02450912 -0.00184035
+v 0.01941067 -0.02450912 -0.00260370
+v 0.01935779 -0.02288670 -0.00260369
+v 0.01938045 -0.02450912 -0.00357329
+f 1 2 3
+f 1 3 8
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+f 1 14 20
+f 1 20 15
+f 1 15 9
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+f 1 4 11
+f 1 11 6
+f 1 6 2
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+f 2 6 13
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+f 2 17 10
+f 2 10 16
+f 2 16 21
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+f 2 19 18
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+f 2 12 5
+f 3 5 7
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+f 10 15 16
+f 10 17 11
+f 11 17 13
+f 14 18 19
+f 14 19 20
+f 15 20 19
+f 15 19 21
+f 15 21 16
+
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_5.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80ec51d80a9e3b3b2c61b2718483140c13d051fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_5.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.01951945 0.01054051 0.00320882
+v 0.01950021 0.01054051 0.00382550
+v 0.01948770 0.00719901 0.00417615
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+v 0.01948770 0.01054050 0.00417616
+v 0.01948386 0.00111829 0.00417612
+v 0.01908649 0.01054048 0.00999228
+v 0.01908553 0.00421996 0.00999226
+v 0.01947423 0.00111830 0.00138777
+v 0.01941169 0.00322577 -0.00163273
+v 0.01928180 0.01017993 -0.00744640
+v 0.01928180 0.01054055 -0.00744640
+v 0.01908168 0.00111827 0.00999224
+v 0.01902299 0.01054048 0.01060895
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+v 0.01936936 0.00123914 -0.00260250
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+v 0.01898643 0.01054048 0.01096203
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+v 0.01882960 0.01054048 0.01150374
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+v 0.01729979 0.01054057 -0.01260230
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+v 0.01631551 0.00918655 0.01199707
+v 0.01631551 0.00421996 0.01201157
+v 0.01631551 0.00111827 0.01200671
+v 0.01828214 0.00111836 -0.01231940
+v 0.01729979 0.00111836 -0.01253463
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+v 0.01631551 0.00223250 -0.01254913
+v 0.01631551 0.00322581 -0.01255639
+v 0.01631551 0.01054057 -0.01259989
+v 0.01336462 0.01054048 0.01204061
+v 0.01533124 0.00421996 0.01203575
+v 0.01533124 0.00111827 0.01203573
+v 0.00969211 0.00111836 -0.01246450
+v 0.00969211 0.00120690 -0.01246934
+v 0.01533028 0.00322581 -0.01254913
+v 0.01533028 0.01054057 -0.01259021
+v 0.01434889 0.00421996 0.01205026
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+v 0.01521097 0.00111827 0.01203815
+v 0.01434889 0.00123909 0.01205266
+v 0.00969019 0.00111833 -0.00548032
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+v 0.01336558 0.01054057 -0.01255636
+v 0.01497429 0.01054057 -0.01258538
+v 0.01139607 0.00223241 0.01208653
+v 0.01139607 0.00123909 0.01208894
+v 0.01139607 0.01054048 0.01205754
+v 0.00969019 0.00349227 0.01209620
+v 0.00969019 0.00223241 0.01210104
+v 0.01434889 0.00111827 0.01205266
+v 0.00969019 0.01054054 -0.00548028
+v 0.00969019 0.00111827 0.01210345
+v 0.01127773 0.00111827 0.01208894
+v 0.01238034 0.00111827 0.01207685
+v 0.00969019 0.01054048 0.01206479
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+
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_6.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf9f2ec4559a527b107e851a1634dc2eb4c7038
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_6.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01864360 -0.02450926 -0.00657623
+v 0.01897130 -0.02470708 -0.00657623
+v 0.01836110 -0.02456262 -0.00794718
+v 0.01823680 -0.02450925 -0.00794718
+v -0.01877058 -0.02450926 -0.00657623
+v 0.01903157 -0.02551397 -0.00794718
+v 0.01854567 -0.02481218 -0.00794718
+v 0.01920107 -0.02557974 -0.00657623
+v -0.01897398 -0.02450925 -0.00794718
+v -0.01881954 -0.02450926 -0.00657811
+v -0.01882331 -0.02451034 -0.00657623
+v 0.01915587 -0.02599100 -0.00794719
+v 0.01928017 -0.02658015 -0.00657624
+v 0.01928770 -0.02658014 -0.00744879
+v 0.01925757 -0.02658014 -0.00794719
+v -0.01912464 -0.02558674 -0.00794718
+v -0.01913594 -0.02558675 -0.00657623
+v -0.01887228 -0.02456532 -0.00657623
+v 0.01930653 -0.02846777 -0.00657624
+v 0.01929146 -0.02757300 -0.00744879
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+v -0.01916608 -0.02658015 -0.00657624
+v 0.01930653 -0.02856695 -0.00657624
+v 0.01928770 -0.02856694 -0.00744879
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+v -0.01912464 -0.02757300 -0.00794719
+v -0.01916608 -0.02667933 -0.00657624
+v 0.01920107 -0.02946118 -0.00657625
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+v 0.01896753 -0.03001527 -0.00770565
+v 0.01896000 -0.03001527 -0.00794720
+v -0.01912088 -0.02808399 -0.00794719
+v -0.01915854 -0.02856695 -0.00657624
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+v -0.01911711 -0.02856694 -0.00794719
+v -0.01913218 -0.02856694 -0.00744879
+v -0.01903424 -0.02956035 -0.00657625
+v -0.01900034 -0.02956034 -0.00794720
+v 0.01901650 -0.02997000 -0.00657625
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+v -0.01884214 -0.03001528 -0.00657625
+v -0.01901541 -0.02960563 -0.00657625
+v -0.01887981 -0.02988699 -0.00794720
+f 1 2 3
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+
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_7.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2a3afdda4c981ebaf91268748418deba8022ab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_7.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
+v 0.01958136 0.02806103 0.00320565
+v 0.01954737 0.02111007 0.00320806
+v 0.01957003 0.02806104 0.00126815
+v 0.01949394 0.02905430 0.00320566
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+v 0.01950204 0.02706777 -0.00356951
+v 0.01950204 0.02806105 -0.00356951
+v 0.01948585 0.02905430 0.00223813
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+v 0.01903420 0.02806198 0.00999297
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+v 0.01931426 0.02905434 -0.00938443
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_8.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ec152e94fca571ca4c48f7b61ad4ac98c8bda4c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_8.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_9.obj b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72499fba37b5e3763c2ccfd5ef5e9cbcffef25c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/mesh/sponge_037_collision_9.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/sponge_037.xml b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/sponge_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1ae81f997a03d1beb2506cb15cc79495b81e8ad7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mjcf/sponge_037.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_037">
+  <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_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_037_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_037_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_037_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_037_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_037_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_037_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_037">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/sponge_037.urdf b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/sponge_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d6d15dc4fce9bb4bdfbd80d2f417e1631daadef1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/sponge_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_037">
+   <link name="sponge_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>0c61e6672c5657fdb51d5df7c375947a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>scrub sponge</name>
+         <color>green,gray</color>
+         <shape>cuboid</shape>
+         <material>organic</material>
+         <description>rectangular green sponge with gray abrasive scrubbing pad on top</description>
+         <min_height>0.0250</min_height>
+         <max_height>0.0250</max_height>
+         <real_height>0.0250</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171003</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.019332 -0.030440 -0.012688</min>
+            <max>0.019489 0.029930 0.012312</max>
+         </aabb>
+         <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/0c61e6672c5657fdb51d5df7c375947a/sponge_037.usd b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/sponge_037.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/sponge_037.usd
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/textures/material_0.png b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/video.mp4 b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/video.mp4
new file mode 100644
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