diff --git a/.gitattributes b/.gitattributes
index c559fa8d4192413e11e1c3d6b8b69648527b2416..d3e928e96f457fc5733850e386d57a697c926d88 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2369,7 +2369,5 @@ dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/sh
 dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/facial_cleanser_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/sponge_038.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..724f0db47294e3b1696004585bb8c71747951027
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_038_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_038_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..08c28ef99b39373db192c5555fbd6b57936afdbb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c809dcfa18756638d411f405096a2ed16a784539bbeb1925509a2c46ec03b75
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.glb b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..33ff560510c0db9da0dc9f4dac38a6e4f1f16801
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6bfb7848590b4e2e3a2f754b11b854742544e85b361e999f721fd30cc0422ed
+size 28771332
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.mtl b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6cc3e52f32752ca6566c51ad56c1310df9264caa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_038_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/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2b706cb4fb3520fdadc8dfc24fb9e7a7ae13a8e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.obj
@@ -0,0 +1,117038 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_038_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038_collision.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efed42d88c1c77d6057599443bf368d7e61f3f97
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038_collision.obj
@@ -0,0 +1,31639 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c84273e732e87edcc818c9f1ab83a0a66fa8aab5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision.obj
@@ -0,0 +1,31639 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_0.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cd975140137a5439214a2a160177a9814fccc95
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_0.obj
@@ -0,0 +1,4087 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_1.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec04f20968e2223b4216cd6711d38afc7d0a128c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_10.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcfd3e7964938aad58b12e0b162fadacc97e0934
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_10.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01110679 -0.01129175 -0.00615587
+v -0.01110679 -0.01129175 -0.00515587
+v -0.01110679 0.01120779 -0.00615587
+v -0.01110679 0.01120779 -0.00515587
+v 0.01121954 -0.01129175 -0.00615587
+v 0.01121954 -0.01129175 -0.00515587
+v 0.01121954 0.01120779 -0.00615587
+v 0.01121954 0.01120779 -0.00515587
+f 2 4 1
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+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/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_11.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09b78280d81fe35471485194dfd27676037f21bc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_11.obj
@@ -0,0 +1,1996 @@
+# https://github.com/mikedh/trimesh
+v -0.01111641 0.00015648 -0.00469969
+v -0.01111203 0.00015648 -0.00428750
+v -0.01109892 0.00042901 -0.00401367
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+
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_12.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd1f1af675c666935520c32a54255a6fd95858b9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_12.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01111456 -0.01129999 -0.00907065
+v -0.01111456 -0.01129999 -0.00807064
+v -0.01111456 0.01121249 -0.00907065
+v -0.01111456 0.01121249 -0.00807064
+v 0.01118306 -0.01129999 -0.00907065
+v 0.01118306 -0.01129999 -0.00807064
+v 0.01118306 0.01121249 -0.00907065
+v 0.01118306 0.01121249 -0.00807064
+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/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_13.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d73c38649dc71aed5b6cacf81c968c7a84e52de9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01110584 -0.01133284 -0.00998039
+v -0.01110584 -0.01133284 -0.00898039
+v -0.01110584 0.01121277 -0.00998039
+v -0.01110584 0.01121277 -0.00898039
+v 0.01122173 -0.01133284 -0.00998039
+v 0.01122173 -0.01133284 -0.00898039
+v 0.01122173 0.01121277 -0.00998039
+v 0.01122173 0.01121277 -0.00898039
+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/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_14.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2911f67e02144a53c047a3de6399d94bd93b6cb3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00679133 -0.01130857 -0.00758967
+v -0.00679133 -0.01130857 -0.00658966
+v -0.00679133 0.01114898 -0.00758967
+v -0.00679133 0.01114898 -0.00658966
+v 0.01120548 -0.01130857 -0.00758967
+v 0.01120548 -0.01130857 -0.00658966
+v 0.01120548 0.01114898 -0.00758967
+v 0.01120548 0.01114898 -0.00658966
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
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+
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_15.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a4fe3fa76ef6dfa36d51e259f73575efc4128f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.01104332 -0.00002835 -0.00658965
+v -0.01104332 0.00869677 -0.00758965
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+
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_16.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7323527e1d5d53c9b385e104954e66c626d41358
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_16.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_2.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fcb2fd1b87d1af6fafa860669e5783550cf8552
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_2.obj
@@ -0,0 +1,4000 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_3.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4394d8881d9f089470e3da00d53f8d55b2ef53e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_3.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.01119085 0.01120434 -0.00595116
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+
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_4.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1bedefd7bf6b6e76ab29b0227574af39e91f6a7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_4.obj
@@ -0,0 +1,2206 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_5.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a01bead485137366a047a967736245cfb3a960
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_6.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c85b24183a96ec2dadef08cd20c36cdbd0a4b5e8
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_7.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5594d50fe6878b5128d32302c4d8fa11b0c3afe8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_8.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab57efc84e7482b6736e77792de618617ce6ac12
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_8.obj
@@ -0,0 +1,2032 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_9.obj b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbba39f48441fd0d494a7f9839d0bfbb46441d67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/mesh/sponge_038_collision_9.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01109272 -0.01130447 -0.00818890
+v -0.01109272 -0.01130447 -0.00718890
+v -0.01109272 0.01121480 -0.00818890
+v -0.01109272 0.01121480 -0.00718890
+v 0.01120864 -0.01130447 -0.00818890
+v 0.01120864 -0.01130447 -0.00718890
+v 0.01120864 0.01121480 -0.00818890
+v 0.01120864 0.01121480 -0.00718890
+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/a5ecb339269b59fd801df53a8a1b53a5/mjcf/sponge_038.xml b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/sponge_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7970519a420bb8f867b04dfd75685c37903eb0a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mjcf/sponge_038.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_038">
+  <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_038.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_038_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_038_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_038_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_038_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_038_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_038_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_038_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_038_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_038_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_038_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_038_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_038_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_038_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_038_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_038_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_038_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sponge_038_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_038">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/sponge_038.urdf b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/sponge_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d953ebd25d200bca8e287f7c60a6bfd7e15afad9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/sponge_038.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_038">
+   <link name="sponge_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_038.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_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.00</mu1>
+            <mu2>0.80</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0125" />
+         <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>a5ecb339269b59fd801df53a8a1b53a5</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>round sponge</name>
+         <color>beige</color>
+         <shape>cylinder</shape>
+         <material>organic</material>
+         <description>porous beige cylindrical sponge with flat circular ends</description>
+         <min_height>0.0250</min_height>
+         <max_height>0.0250</max_height>
+         <real_height>0.0250</real_height>
+         <min_mass>0.005</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171040</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.011040 -0.011273 -0.012458</min>
+            <max>0.011187 0.011175 0.012542</max>
+         </aabb>
+         <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/a5ecb339269b59fd801df53a8a1b53a5/sponge_038.usd b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/sponge_038.usd
new file mode 100644
index 0000000000000000000000000000000000000000..33d37517a05970d7b6d7b5c1153371f506593065
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/sponge_038.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a6e82551ea920f3d4399277f86d02d4a193737c2f0604bb19e9070d14dd6c59
+size 4987119
diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/textures/material_0.png b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..08c28ef99b39373db192c5555fbd6b57936afdbb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c809dcfa18756638d411f405096a2ed16a784539bbeb1925509a2c46ec03b75
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diff --git a/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/video.mp4 b/dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/video.mp4
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