diff --git a/.gitattributes b/.gitattributes
index dc6f3f106e1c916d29142c3ad53a6d250240e9d6..e5512994da1d92e637442bd6a7592524ee78b068 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2246,3 +2246,18 @@ dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/afforda
 dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/renders/image_depth_exr/0005.exr filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/mesh/soap_dish_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/soap_dish_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/part_seg_renders/image_depth_exr/0000.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/part_seg_renders/image_depth_exr/0001.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/part_seg_renders/image_depth_exr/0002.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/part_seg_renders/image_depth_exr/0003.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/part_seg_renders/image_depth_exr/0004.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/part_seg_renders/image_depth_exr/0005.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/renders/image_depth_exr/0000.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/renders/image_depth_exr/0001.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/renders/image_depth_exr/0002.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/renders/image_depth_exr/0003.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/renders/image_depth_exr/0004.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/renders/image_depth_exr/0005.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/mesh/sponge_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/sponge_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/affordance_annot.json b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/affordance_annot.json
new file mode 100644
index 0000000000000000000000000000000000000000..4745d2f82b6795e93d0d9d59c47ccee2993dc40d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/affordance/affordance_annot.json
@@ -0,0 +1,396 @@
+{
+    "affordances": [
+        {
+            "part_name": "scrubbing pad",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top scrubbing pad to pick up and reposition the sponge",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the scrubbing pad to press the sponge against a surface while cleaning",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "scrub surfaces",
+                "provide abrasive cleaning",
+                "contact dirty areas",
+                "support wiping with friction"
+            ],
+            "semantic_description": "Large rectangular white fibrous pad on the top face, with a matte slightly rough texture and thin flat profile laminated over the sponge body.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foam body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the foam body from the sides to pick up the sponge",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "compress the foam body to hold and squeeze during cleaning",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the foam body to stabilize the sponge while scrubbing",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "absorb water and soap",
+                "wipe surfaces",
+                "provide compressible support",
+                "cushion contact during cleaning"
+            ],
+            "semantic_description": "Large bright green foam block forming most of the sponge, with a matte porous surface, soft springy texture, and many visible holes across the sides and bottom.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9873046278953552,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            0.01845103826793837,
+                            -0.7204260647337516
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9864346981048584,
+                    "position": [
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+                    }
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+                    }
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+                "grasp_4": {
+                    "confidence": 0.9845743775367737,
+                    "position": [
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+                        "xyz": [
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+                            0.6118186211965008,
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+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9845704436302185,
+                    "position": [
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+                "grasp_6": {
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+                "grasp_14": {
+                    "confidence": 0.9838212728500366,
+                    "position": [
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+                    "position": [
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+                "grasp_16": {
+                    "confidence": 0.9836660623550415,
+                    "position": [
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+                    ],
+                    "orientation": {
+                        "w": 0.5224867530227161,
+                        "xyz": [
+                            0.8514417729759233,
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+                            0.039696218300764884
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+                "grasp_17": {
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+                        "xyz": [
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+                "grasp_18": {
+                    "confidence": 0.9835175275802612,
+                    "position": [
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+                    ],
+                    "orientation": {
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+                        "xyz": [
+                            0.3346798107179446,
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+                "grasp_19": {
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+                    ],
+                    "orientation": {
+                        "w": 0.7067256337464647,
+                        "xyz": [
+                            0.7073628239938516,
+                            0.009601763733898094,
+                            0.009193474332344687
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bonding layer",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect scrubbing pad to foam body",
+                "reinforce the interface",
+                "separate cleaning layers"
+            ],
+            "semantic_description": "Thin dark green to gray strip between the white pad and green foam, with a narrow flat band shape and slightly rough matte appearance around the top edge.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}
\ No newline at end of file
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+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/caption_candidates.json
@@ -0,0 +1,28 @@
+{
+  "raw": "sponge",
+  "uuid": "0c61e6672c5657fdb51d5df7c375947a",
+  "seen": [
+    "green sponge with dark band",
+    "green sponge with hole pattern",
+    "green sponge with smooth back",
+    "green sponge with bubbly holes",
+    "green sponge with round holes",
+    "two layer green sponge block",
+    "green sponge with rough strip",
+    "porous green sponge with scrubber",
+    "green sponge with flat sides",
+    "blocky green sponge with pores",
+    "short green sponge rectangle",
+    "green sponge with coarse top",
+    "thick green sponge rectangle",
+    "rectangular sponge with scrub layer",
+    "green sponge with silver top"
+  ],
+  "unseen": [
+    "wide green sponge brick",
+    "green sponge with gray backing",
+    "dark green sponge with pad",
+    "flat green sponge with pores",
+    "green sponge with gray top"
+  ]
+}
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/interaction.json b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/interaction.json
new file mode 100644
index 0000000000000000000000000000000000000000..e090265f8b191fa5dce409a653167be94af9a8a6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/interaction.json
@@ -0,0 +1,147 @@
+{
+    "interaction": {
+        "active": {
+            "place": {
+                "body": [
+                    {
+                        "xyz": [
+                            7.850024849176407e-05,
+                            -0.00025498028844594955,
+                            -0.00018798001110553741
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ]
+                    }
+                ]
+            }
+        },
+        "passive": {
+            "pick": {
+                "body": [
+                    {
+                        "xyz": [
+                            7.850024849176407e-05,
+                            -0.00025498028844594955,
+                            -0.00018798001110553741
+                        ],
+                        "direction": [
+                            -1.0,
+                            -0.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            1.0,
+                            0.0
+                        ],
+                        "dir_axis": "-x",
+                        "ref_axis": "+y"
+                    },
+                    {
+                        "xyz": [
+                            7.850024849176407e-05,
+                            -0.00025498028844594955,
+                            -0.00018798001110553741
+                        ],
+                        "direction": [
+                            -1.0,
+                            -0.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            0.0,
+                            1.0
+                        ],
+                        "dir_axis": "-x",
+                        "ref_axis": "+z"
+                    },
+                    {
+                        "xyz": [
+                            7.850024849176407e-05,
+                            -0.00025498028844594955,
+                            -0.00018798001110553741
+                        ],
+                        "direction": [
+                            -0.0,
+                            -1.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ],
+                        "dir_axis": "-y",
+                        "ref_axis": "+x"
+                    },
+                    {
+                        "xyz": [
+                            7.850024849176407e-05,
+                            -0.00025498028844594955,
+                            -0.00018798001110553741
+                        ],
+                        "direction": [
+                            -0.0,
+                            -1.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            0.0,
+                            1.0
+                        ],
+                        "dir_axis": "-y",
+                        "ref_axis": "+z"
+                    },
+                    {
+                        "xyz": [
+                            7.850024849176407e-05,
+                            -0.00025498028844594955,
+                            -0.00018798001110553741
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ],
+                        "dir_axis": "-z",
+                        "ref_axis": "+x"
+                    },
+                    {
+                        "xyz": [
+                            7.850024849176407e-05,
+                            -0.00025498028844594955,
+                            -0.00018798001110553741
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            1.0,
+                            0.0
+                        ],
+                        "dir_axis": "-z",
+                        "ref_axis": "+y"
+                    }
+                ]
+            }
+        }
+    }
+}
\ No newline at end of file
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
+v -0.00010200 -0.00618289 -0.02992202
+v 0.00132200 -0.00872389 -0.02992103
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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_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 @@
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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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+
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
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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 @@
+# https://github.com/mikedh/trimesh
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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 @@
+# https://github.com/mikedh/trimesh
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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 @@
+# https://github.com/mikedh/trimesh
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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
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+
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
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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
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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 @@
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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
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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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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/sponge_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab15d39ff2b02b67c590814326d3210dd653185b64c76c1cdbd07b6fce9c6c0e
+size 4908664
diff --git a/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/textures/material_0.png b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6dcbc64803f5145663630e1b452bc2ebfd2d581f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/textures/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/video.mp4 b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c05d519952d7d544d743975864bde0824f821907
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0c61e6672c5657fdb51d5df7c375947a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f2402bb2c3d55ab721e4626007dc0da28153b85d7da790df6e023a899c1f40
+size 687924