diff --git a/.gitattributes b/.gitattributes
index d31e9138a9f1419579c1a42404f06791b5e665be..e866535d7e991ee7f7f626302bdb5ab5d827b54c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2373,5 +2373,9 @@ dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/lotion_
 dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/mesh/sponge_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/sponge_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/a6e31dc14a7350519373879b76b831c3/mesh/sponge_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/a6e31dc14a7350519373879b76b831c3/sponge_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/facial_cleanser_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/mesh/facial_cleanser_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/shampoo_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/sponge_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3af3c887de0e4c6054b35082c5e21a46524c7181
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..378a0bb6196c867169228c0579e042b1e40bec85
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363aa56937277f3b2a67391b917be4db9494a70a4c4c3f9cca64d8b386a38a3e
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.glb b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5d048f576a5f654b433e456915344dc13236e8aa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100988de959ebaf4105610ad1e782a63a63e4de2df598e5017d1b2ed0624d4a6
+size 14726844
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.mtl b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21476938e3da5142017d79ea236c82b08c6d85af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_001_geometry_Looks_material_0
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+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/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b5b19af375a6016c390f80fdc2635a7bd0f8635
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.obj
@@ -0,0 +1,141862 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_001_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001_collision.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2b98b553eedd86498452b67fe9fd760e986476
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..378a0bb6196c867169228c0579e042b1e40bec85
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+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/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/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ffccf7d446ae61825ebaab20608276518089011
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision.obj
@@ -0,0 +1,12422 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_0.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ad2d91c0f4ff131a79428578c1a4b5cb0f2c9c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_0.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_1.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a96e333a6e56161688c2ddc037367968541f68
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_1.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_10.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3fe55fdebbe032d181e1bed82954c6f51803c5b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_10.obj
@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_11.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee34606e7b7186443d0b24a793f6923d3f1d5766
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_11.obj
@@ -0,0 +1,886 @@
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_12.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041f60946dc9b77f9add9e532583c981f8f43fee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_13.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e416b2ec2cdbf0f17e13cb1bcd78c5aaaeece22c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_13.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_14.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7cd00896520ec61e1b8c173cc9bc1ac03dd78ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_14.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_15.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd65c04c3ad8bf7a7fcf44b12d1dcd65285776da
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_15.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_16.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee50f2e78e097a58675259d8eb63b7099847251
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_16.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01147065 -0.05337779 0.01574283
+v 0.01147065 -0.05337779 0.01674283
+v 0.01147065 -0.02094650 0.01574283
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+
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_17.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd9dcce16c00cc5127f88180f0145ddc212e930
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_17.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_18.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae26d848b096886da46b841905f070ef08282bf8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_18.obj
@@ -0,0 +1,1084 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_19.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bad7389a024c4463d6d41c875ed3de153dfe690d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_19.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_2.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c4d5f00f66e4bfdfa3224db16d947639740c26
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_2.obj
@@ -0,0 +1,1162 @@
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_20.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f51091bada70ceb09af0847c6d4454e692c95a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_21.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f55e536fed815e846b42a2b04b5a9c05063338
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_21.obj
@@ -0,0 +1,589 @@
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+f 160 185 161
+f 160 186 185
+f 161 185 189
+f 161 189 163
+f 161 163 162
+f 163 189 188
+f 163 188 167
+f 163 167 164
+f 164 167 165
+f 165 167 166
+f 167 188 190
+f 167 190 191
+f 167 191 176
+f 167 176 168
+f 168 176 169
+f 169 176 170
+f 170 192 172
+f 170 176 193
+f 170 193 194
+f 170 194 192
+f 172 192 195
+f 174 196 177
+f 174 176 191
+f 174 191 196
+f 175 194 176
+f 176 194 193
+f 177 196 178
+f 178 196 197
+f 178 197 183
+f 179 184 181
+f 179 181 180
+f 183 197 187
+f 187 197 188
+f 188 197 190
+f 190 197 191
+f 191 197 196
+f 192 194 195
+
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_22.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf6078141644741f3d3a265745d907524937edd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00008785 -0.05391156 0.01573657
+v 0.00008785 -0.05391156 0.01673657
+v 0.00008785 -0.03942923 0.01573657
+v 0.00008785 -0.03942923 0.01673657
+v 0.01147065 -0.05391156 0.01573657
+v 0.01147065 -0.05391156 0.01673657
+v 0.01147065 -0.03942923 0.01573657
+v 0.01147065 -0.03942923 0.01673657
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_23.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7278dde658e4aa67a64c06ddedad968ddc1ea05f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_23.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02064471 -0.02094580 0.00559477
+v -0.03543937 -0.02094580 0.00559584
+v -0.03548847 -0.02056460 0.00559584
+v -0.03553757 -0.01953051 0.00559585
+v -0.03557194 -0.01867579 0.00559585
+v -0.02064471 -0.01420833 0.00559480
+v 0.01372720 -0.02094580 0.00559477
+v -0.03605315 -0.02094582 0.01177199
+v -0.03623974 -0.02094583 0.01365686
+v -0.03609734 -0.02056462 0.01177199
+v -0.03629867 -0.02044461 0.01368899
+v -0.03642142 -0.01973498 0.01437012
+v -0.03554248 -0.01764169 0.00559586
+v -0.03643615 -0.01867582 0.01426731
+v -0.03642633 -0.01741749 0.01429088
+v -0.03615135 -0.01679030 0.01177201
+v -0.03551793 -0.01679028 0.00559586
+v -0.03540991 -0.01575618 0.00559586
+v -0.03531661 -0.01490278 0.00559587
+v -0.03517421 -0.01420833 0.00559587
+v 0.01372720 -0.01420833 0.00559480
+v 0.01372720 -0.02094584 0.01645310
+v -0.03642142 -0.01973498 0.01448578
+v -0.03581746 -0.02094584 0.01522901
+v -0.03643615 -0.01867582 0.01452220
+v -0.03642633 -0.01741749 0.01451471
+v -0.03616118 -0.01490281 0.01356051
+v -0.03633795 -0.01678965 0.01364082
+v -0.03592549 -0.01420836 0.01242744
+v 0.01372720 -0.01420836 0.01424698
+v 0.01372720 -0.02057058 0.01646810
+v 0.01335893 -0.02094584 0.01647238
+v -0.03589111 -0.02044462 0.01518939
+v -0.03581746 -0.01867583 0.01541751
+v -0.03483540 -0.02094584 0.01636850
+v -0.03591075 -0.01678966 0.01520654
+v -0.03567015 -0.01490282 0.01535006
+v -0.03557685 -0.01420837 0.01535006
+v -0.03588620 -0.01420836 0.01421700
+v -0.03604333 -0.01420836 0.01356051
+v 0.00718672 -0.01420837 0.01638352
+v 0.01372720 -0.01581294 0.01559101
+v 0.01372720 -0.02016630 0.01647025
+v 0.01333438 -0.02056464 0.01648737
+v -0.00731823 -0.02056464 0.01652593
+v -0.00730841 -0.02094584 0.01650237
+v -0.03485014 -0.02056464 0.01637064
+v -0.03487959 -0.01867583 0.01636958
+v -0.03485995 -0.01679032 0.01636852
+v -0.03481576 -0.01490282 0.01636746
+v -0.03359801 -0.02094584 0.01651201
+v -0.03532152 -0.01420837 0.01571097
+v 0.01372720 -0.01714579 0.01638673
+v 0.01372720 -0.01682791 0.01631069
+v 0.00582657 -0.01420837 0.01649919
+v 0.01372720 -0.01824847 0.01646704
+v 0.00582657 -0.01678966 0.01653237
+v 0.01333438 -0.01867649 0.01647989
+v -0.00731823 -0.01867649 0.01653558
+v -0.00919396 -0.02056464 0.01652593
+v -0.03359801 -0.02056464 0.01651522
+v -0.03359801 -0.01867583 0.01651202
+v -0.03477648 -0.01420837 0.01635568
+v -0.03359801 -0.01679032 0.01650346
+v -0.03359801 -0.01490282 0.01649276
+v -0.03436893 -0.01420837 0.01640280
+v -0.02540277 -0.01420837 0.01652060
+v -0.02609021 -0.01490282 0.01652382
+v -0.02609021 -0.01420837 0.01652060
+v -0.03359801 -0.01420837 0.01648205
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 21
+f 1 21 7
+f 1 7 22
+f 1 22 32
+f 1 32 46
+f 1 46 51
+f 1 51 35
+f 1 35 24
+f 1 24 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 13 6
+f 5 12 14
+f 5 14 15
+f 5 15 16
+f 5 16 13
+f 6 13 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 29
+f 6 29 40
+f 6 40 39
+f 6 39 38
+f 6 38 52
+f 6 52 63
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+f 6 66 70
+f 6 70 69
+f 6 69 67
+f 6 67 55
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+f 6 30 21
+f 7 21 30
+f 7 30 42
+f 7 42 54
+f 7 54 53
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+f 7 56 43
+f 7 43 31
+f 7 31 22
+f 9 23 12
+f 9 12 11
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+f 9 24 23
+f 12 23 25
+f 12 25 14
+f 13 16 17
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 27
+f 16 27 17
+f 17 27 18
+f 18 27 19
+f 19 27 29
+f 19 29 20
+f 22 31 32
+f 23 24 33
+f 23 33 34
+f 23 34 25
+f 24 35 33
+f 25 34 26
+f 26 34 36
+f 26 36 37
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+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 29
+f 30 41 42
+f 31 43 44
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 33 35 34
+f 34 35 47
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 36
+f 35 51 47
+f 36 50 37
+f 37 50 52
+f 37 52 38
+f 41 53 54
+f 41 54 42
+f 41 55 53
+f 43 56 44
+f 44 57 45
+f 44 56 58
+f 44 58 57
+f 45 57 59
+f 45 59 60
+f 45 60 51
+f 45 51 46
+f 47 51 61
+f 47 61 48
+f 48 61 62
+f 48 62 49
+f 49 62 50
+f 50 63 52
+f 50 62 64
+f 50 64 65
+f 50 65 66
+f 50 66 63
+f 51 60 61
+f 53 55 56
+f 55 57 58
+f 55 58 56
+f 55 67 57
+f 57 67 68
+f 57 68 59
+f 59 68 61
+f 59 61 60
+f 61 68 62
+f 62 68 64
+f 64 68 69
+f 64 69 65
+f 65 70 66
+f 65 69 70
+f 67 69 68
+
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_3.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4c0427c18e19f259ab6a05902448d84fb606fa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_3.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.03170664 0.00210744 -0.00658736
+v -0.03247744 -0.00323282 0.00559484
+v -0.03192777 0.00123830 0.00559485
+v -0.03181405 0.00209275 0.00559486
+v -0.03180773 0.00211264 0.00559486
+v -0.03169400 0.00211268 -0.00612230
+v -0.03128965 0.00211268 -0.00658736
+v -0.03160555 -0.00323278 -0.00658738
+v -0.03161187 -0.00323278 -0.00650390
+v 0.03206794 -0.00323282 0.00559484
+v 0.02992612 0.00211264 0.00559486
+v 0.02945226 0.00211268 -0.00658736
+v 0.03100019 -0.00323278 -0.00658738
+v 0.03104442 -0.00323278 -0.00612232
+v 0.02988189 0.00211266 -0.00077290
+v 0.03000193 0.00211266 0.00101580
+v 0.03010934 0.00211265 0.00282477
+v 0.03010302 0.00211264 0.00461465
+v 0.03045052 0.00105830 0.00559485
+v 0.02993875 0.00210950 0.00559486
+v 0.03103810 -0.00323278 -0.00618909
+v 0.02994507 0.00210374 0.00559486
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 13
+f 2 13 21
+f 2 21 14
+f 2 14 10
+f 2 10 19
+f 2 19 22
+f 2 22 20
+f 2 20 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 5 11 18
+f 5 18 17
+f 5 17 16
+f 5 16 15
+f 5 15 12
+f 5 12 7
+f 5 7 6
+f 10 14 12
+f 10 12 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 11 20 18
+f 12 14 21
+f 12 21 13
+f 18 20 22
+f 18 22 19
+
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_4.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94d3d549e950e06f15be8ecce0bce3b8816d81ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_4.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03312373 -0.00778887 0.00559482
+v -0.03333535 -0.00778887 0.00640518
+v -0.03288481 -0.00544240 0.00559483
+v 0.03425918 -0.00778887 0.00559482
+v -0.03378589 -0.00778888 0.00820894
+v -0.03181307 0.00209228 0.00559486
+v 0.03045008 0.00105813 0.00559485
+v 0.03098253 0.00211164 0.01336658
+v 0.03526948 -0.00778890 0.01356244
+v -0.03402481 -0.00778889 0.00998381
+v -0.03220900 0.00211166 0.00819400
+v -0.03180625 0.00211167 0.00559486
+v 0.03077092 0.00211165 0.01177263
+v 0.02994492 0.00210391 0.00559486
+v 0.03098936 0.00211164 0.01342117
+v 0.03520122 -0.00778890 0.01437065
+v 0.03124193 0.00139829 0.01468221
+v -0.03425691 -0.00778889 0.01177259
+v -0.03242062 0.00211165 0.00998492
+v -0.03442074 -0.00778890 0.01315244
+v 0.02992445 0.00211167 0.00559486
+v 0.02993810 0.00210973 0.00559486
+v 0.03063439 0.00211163 0.01530951
+v 0.03511930 -0.00778891 0.01503650
+v -0.03282337 0.00211164 0.01356248
+v -0.03446852 -0.00778890 0.01368768
+v 0.03119415 -0.00067196 0.01626009
+v 0.03464828 -0.00778891 0.01580189
+v 0.02965139 0.00211163 0.01637678
+v -0.03282337 0.00211164 0.01357854
+v -0.03446852 -0.00778890 0.01403773
+v 0.03322840 -0.00591833 0.01632323
+v 0.03292804 -0.00465932 0.01617336
+v 0.03369259 -0.00778891 0.01637781
+v 0.02835438 0.00211163 0.01647634
+v 0.02835438 0.00209224 0.01647741
+v 0.03211571 -0.00734792 0.01650520
+v 0.03355607 -0.00734792 0.01637139
+v -0.03279607 0.00211164 0.01495090
+v -0.03428421 -0.00778890 0.01493908
+v 0.03211571 -0.00778891 0.01650841
+v -0.02045402 0.00211163 0.01652344
+v 0.01709091 0.00020421 0.01651594
+v 0.02835438 0.00020421 0.01650202
+v 0.03023846 -0.00357089 0.01650843
+v -0.03412721 -0.00778891 0.01521741
+v -0.03224313 0.00211163 0.01584582
+v 0.01896815 -0.00734792 0.01651698
+v 0.01896815 -0.00778891 0.01651483
+v -0.02984026 0.00211163 0.01648276
+v -0.02984026 0.00209224 0.01648383
+v -0.02984026 0.00020421 0.01651058
+v -0.02796301 -0.00734792 0.01653089
+v 0.00207293 0.00020421 0.01652129
+v -0.03401798 -0.00778891 0.01539190
+v -0.03272780 -0.00408069 0.01628898
+v -0.03223631 0.00211163 0.01585010
+v -0.02840672 -0.00778891 0.01652875
+v -0.03130792 0.00211163 0.01637785
+v -0.03171751 -0.00734792 0.01650520
+v -0.03171751 -0.00778891 0.01650841
+v -0.03028397 -0.00778891 0.01652447
+v -0.02984026 -0.00734792 0.01652661
+v -0.02984026 -0.00778891 0.01652554
+v -0.03327391 -0.00778891 0.01625578
+v -0.03283020 -0.00545989 0.01633393
+v -0.03305547 -0.00778891 0.01637032
+v -0.03207930 -0.00778891 0.01647630
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 21
+f 1 21 22
+f 1 22 14
+f 1 14 7
+f 1 7 4
+f 1 4 9
+f 1 9 16
+f 1 16 24
+f 1 24 28
+f 1 28 34
+f 1 34 41
+f 1 41 49
+f 1 49 58
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+f 1 64 62
+f 1 62 61
+f 1 61 68
+f 1 68 67
+f 1 67 65
+f 1 65 55
+f 1 55 46
+f 1 46 40
+f 1 40 31
+f 1 31 26
+f 1 26 20
+f 1 20 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
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+f 5 10 11
+f 5 11 6
+f 6 11 12
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+f 8 15 9
+f 8 13 21
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+f 8 12 11
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+f 8 23 15
+f 9 15 17
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+f 23 29 27
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+f 28 33 32
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+f 29 35 36
+f 29 36 37
+f 29 37 34
+f 29 34 38
+f 29 38 32
+f 30 31 39
+f 31 40 39
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+f 35 42 36
+f 36 43 44
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+f 36 45 37
+f 36 42 43
+f 37 45 41
+f 39 40 46
+f 39 46 47
+f 41 48 49
+f 41 45 48
+f 42 50 51
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+f 42 52 53
+f 42 53 54
+f 42 54 43
+f 43 54 48
+f 43 48 45
+f 43 45 44
+f 46 55 47
+f 47 56 57
+f 47 55 56
+f 48 53 49
+f 48 54 53
+f 49 53 58
+f 50 59 51
+f 51 59 60
+f 51 60 52
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+f 52 61 62
+f 52 62 63
+f 52 63 53
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+f 53 64 58
+f 55 65 56
+f 56 65 66
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+f 56 59 57
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+f 60 68 61
+f 62 64 63
+f 65 67 66
+
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_5.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d190f7f4067cc6de08ca3ffbb2ca56aa7c117e0a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_5.obj
@@ -0,0 +1,781 @@
+# https://github.com/mikedh/trimesh
+v -0.00919082 0.05894040 0.00189938
+v -0.00919082 0.05880294 0.00103534
+v -0.01009413 0.05886929 0.00189938
+v -0.00731362 0.05892618 0.00189938
+v -0.00731362 0.05821512 -0.00254343
+v -0.00732068 0.05816297 -0.00286424
+v -0.00919082 0.05850902 -0.00075381
+v -0.01106801 0.05801128 -0.00286424
+v -0.01106801 0.05865124 0.00103534
+v -0.01106801 0.05878871 0.00189938
+v -0.00523177 0.05792121 -0.00286424
+v -0.00686902 0.05812979 -0.00286424
+v 0.00271455 0.05752773 0.00189937
+v 0.00207235 0.05694940 -0.00286424
+v -0.00916964 0.05815823 -0.00286424
+v -0.00919082 0.05821038 -0.00254343
+v -0.01246532 0.05783588 -0.00286424
+v -0.01294521 0.05838577 0.00103533
+v -0.01294521 0.05851849 0.00189937
+v 0.00387898 0.05731914 0.00189937
+v 0.00394955 0.05661756 -0.00254343
+v 0.00394955 0.05656542 -0.00286424
+v -0.01278995 0.05778374 -0.00286424
+v -0.01278995 0.05786432 -0.00237883
+v -0.01294521 0.05810134 -0.00075381
+v -0.01389792 0.05779796 -0.00167240
+v -0.01485769 0.05813925 0.00189937
+v 0.00394955 0.05716745 0.00103533
+v 0.00490932 0.05702523 0.00189937
+v 0.00570677 0.05607715 -0.00286424
+v 0.00417538 0.05650380 -0.00286424
+v -0.01331218 0.05769841 -0.00286424
+v -0.01468832 0.05743293 -0.00286424
+v -0.01516820 0.05766047 -0.00075381
+v -0.01490003 0.05799705 0.00101901
+v -0.01557751 0.05775054 0.00041144
+v -0.01593743 0.05784060 0.00160467
+v -0.01601506 0.05786430 0.00189937
+v 0.00582675 0.05675976 0.00189937
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_6.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bb4e0586bc70d981b255062c77cbb906c17f747
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_6.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_7.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af50a56a408582264278d2fdc23daa8a2b798e93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_7.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_8.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb4095eb0db407cb49b93170502be8b905ce2ac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_8.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03518713 -0.05349838 0.01574011
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+
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_9.obj b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f709f93a3683f27c57aa20ae9d2f8e9d052830de
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_9.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/sponge_001.xml b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/sponge_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b04f0ee74bc0991d670a9bbea67b3465b8ca78d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/sponge_001.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_001">
+  <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_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sponge_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sponge_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sponge_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sponge_001_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sponge_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sponge_001_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sponge_001_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sponge_001_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/sponge_001.urdf b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/sponge_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..454ad49c496a35bf0641fe8024ee7f933896e365
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/sponge_001.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_001">
+   <link name="sponge_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_001.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_001_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>aa8c8788b95a59928b89f81bee9266d2</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>porous sponge</name>
+         <color>beige</color>
+         <shape>flat</shape>
+         <material>organic</material>
+         <description>soft, porous sponge with irregular holes and curved edges</description>
+         <min_height>0.0291</min_height>
+         <max_height>0.0291</max_height>
+         <real_height>0.0291</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225846</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/aa8c8788b95a59928b89f81bee9266d2/sponge_001.usd b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/sponge_001.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/sponge_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6584a979571ce4c6d0b9c6774e63e845f71392581133372b879b5ca7ab56035
+size 5132649
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/textures/material_0.png b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363aa56937277f3b2a67391b917be4db9494a70a4c4c3f9cca64d8b386a38a3e
+size 11127588
diff --git a/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/video.mp4 b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a594ddba06f3353fa483d0c3da0e3c109a3474c8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ebc7d450eb55f4756f8527a488c9c01662709e46608da21c65744c8538919bd
+size 367007