diff --git a/.gitattributes b/.gitattributes
index 632b2bf7dd4843e60c7a2386632fd87b20b5bca0..5a30996024564ddc1b12a7b17685cf419837d489 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2445,3 +2445,5 @@ dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/lotion_
 dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/lotion_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/sponge_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c11cc9b294243572e69dbdf4989fa4d8acaea12
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_022_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0cc72488c0c5ffbb36e34163644f6bc1c9db504
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3452009eba6ad95db73dc463e6aeef0e43f3fd5888744a38b15ca07a90faf513
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.glb b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0dfedc12ef4015219028f10ff59d03b3b67c9505
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:350bd17e1edf5cc4e3f1b5484d28380689786ae7d1051544d9ec154357a13e8b
+size 13344968
diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.mtl b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6672e4cbc93ae641f089112da6ff9c682e45b2d5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_022_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/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f7894d0e2eb8126c70e0169eba1836a2597a7ac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.obj
@@ -0,0 +1,105252 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_022_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022_collision.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cad7918d6876ca87bf3a6a799dacd149fcbee0ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022_collision.obj
@@ -0,0 +1,7101 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c43a8065902f2c5631343501f3cb3ff588245164
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision.obj
@@ -0,0 +1,7101 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_0.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92fd56581edb1e9de3008f33b5edbde46ea1b98c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_0.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_1.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..288eadbd48b4629a53d7992b76f1b31c35d331f5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_10.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcb23d9b15fd8299d9d9f1442cfb22aff76515f8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_10.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_11.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39bbb70f94bc3c67a69690f43871687fe0726dab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_11.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_12.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..613ae58c5ac731270e73a0cf72e7155f18ef27a4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_13.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdec9a4029ede1e30d5a79171f5e9cb12c6f1ec4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_13.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_14.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb9681ce4bc95b1220e5ab44efe909f3293935ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_14.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_15.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff0d7c45242a1416bdc83c450b58589f3bc6f0bc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_15.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_2.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9afd1b63ef8a1eeadc60b627b6a1721c30bf8a06
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_3.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d811299940df7229b093d262f17ce283988ca919
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_3.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_4.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1398de5ac4e0fe3a0595bcb35e84a79ec60c606e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_4.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_5.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab725383b1043699fbc0bec9c8684f6038d6c8e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_6.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b77141db03adb631d492e52e194146f386a850
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_6.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_7.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e2112ebb6f736cf5c0cb762647f0ba6d7e506c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_7.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_8.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fb673aba365e2252de4c2a00864c271c3e14be2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_9.obj b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81c174d9ed7ebe8deafad25b8ea597a04b956dbf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/mesh/sponge_022_collision_9.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/sponge_022.xml b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/sponge_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2af582173fafbc3e2ac9fcdc6781e3126277f264
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mjcf/sponge_022.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_022">
+  <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_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_022_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_022_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_022_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_022_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_022_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_022">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/sponge_022.urdf b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/sponge_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b6fb1c833ae0b88ac250c31d6081f6fcb09abec5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/sponge_022.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_022">
+   <link name="sponge_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_022.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_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.00</mu1>
+            <mu2>0.80</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>ee872e868fab5e748b2e3da73f5a64fe</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>wavy sponge</name>
+         <color>beige,orange</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>beige rectangular sponge with wavy top, pores, and orange scrub base</description>
+         <min_height>0.0376</min_height>
+         <max_height>0.0376</max_height>
+         <real_height>0.0376</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518151422</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036007 -0.060373 -0.016566</min>
+            <max>0.036019 0.060389 0.021018</max>
+         </aabb>
+         <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/ee872e868fab5e748b2e3da73f5a64fe/sponge_022.usd b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/sponge_022.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b928e736d2bb525a7203b90e92cd4b6213cf6ef4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/sponge_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f7b7e808ba36b09e7e40f206bd942e2c379a7a08e1375ea21787ee521b66e1
+size 4911447
diff --git a/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/textures/material_0.png b/dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/textures/material_0.png
new file mode 100644
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