diff --git a/.gitattributes b/.gitattributes
index 8b1b4387b518fa4ba2e6cc9c16964edf7b41beaf..6b7ef3df60fcfe77fc554cdccd0585a110e61abd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2307,3 +2307,5 @@ dataset/bathroom_supplies/bath_products/26050a8f26ab5da9b88321b7425b45af/mesh/sp
 dataset/bathroom_supplies/bath_products/26050a8f26ab5da9b88321b7425b45af/sponge_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/facial_cleanser_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/mesh/facial_cleanser_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9919c8de867f788b80e7bc23e1929a9291291212
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab044dbae7983a2aaf80d87243c5efd6681bd84c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b62799dff4cdde52c74f84e8ce7c49d10b1929da5d17ce634d0371c43739ca5
+size 14407337
diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.glb b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d509b6cc5eb6c1514a95e94a45833f999aad7187
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1602d1fb8a96aa263950fc6d0232e8ad5087e284035597d454d3086dd82d543e
+size 17216416
diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.mtl b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b34722fee68b8123fc975b1afda08dac139b443
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_008_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/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.obj b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52096d7d3b8dedc75f49eed342cd30e401dd9177
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.obj
@@ -0,0 +1,104314 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_008_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008_collision.obj b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf2bacf23e852532ddeabfeb8ee0121746d87b39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab044dbae7983a2aaf80d87243c5efd6681bd84c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab044dbae7983a2aaf80d87243c5efd6681bd84c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b62799dff4cdde52c74f84e8ce7c49d10b1929da5d17ce634d0371c43739ca5
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diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008.obj b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008.obj
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008_collision.obj b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f112d5473a50b8c6185b818a3601c145f1b025c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008_collision.obj
@@ -0,0 +1,10483 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008_collision_0.obj b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5518402e9423757f5e04a6d03fe0d72c1fbafe83
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008_collision_1.obj b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96de79b5a94490b60b30544f1ae9cc893b97a192
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/mesh/sponge_008_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/sponge_008.xml b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/sponge_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0b8365fde7e5e192b705f1fc1d0d3f5713c4b832
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mjcf/sponge_008.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_008">
+  <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_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_008">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.urdf b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..afae672f16f4231fb3f33edc13205924bf998c2d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_008">
+   <link name="sponge_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>257c216f3c3056fb8e2cf83ad2f3089f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>blue sponge</name>
+         <color>blue</color>
+         <shape>irregular</shape>
+         <material>silicone</material>
+         <description>textured blue sponge with curved edges and decorative top design</description>
+         <min_height>0.0235</min_height>
+         <max_height>0.0235</max_height>
+         <real_height>0.0235</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230150</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>1</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/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..20da411a37d1990a76ceffe1572e35ca78342fb8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60fc555f02d50141e235d02733c7d765c8d6ef8bc63551398c5dfc1e1e3f6cfe
+size 4572536
diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/textures/material_0.png b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab044dbae7983a2aaf80d87243c5efd6681bd84c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b62799dff4cdde52c74f84e8ce7c49d10b1929da5d17ce634d0371c43739ca5
+size 14407337
diff --git a/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/video.mp4 b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..594b0a896430dcef5d7088160189d3f020052ba3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e49d4238dc987a3b1787ecdc7a611cee067754e7f55f94c681bab8cdce5ed954
+size 576316