diff --git a/.gitattributes b/.gitattributes
index aff376e34802cb6528664fef3214c00ddee89c9a..d2abb580b3a323fe897db9a2c2f97c44fe01173f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2449,3 +2449,5 @@ dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sp
 dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/sponge_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/hand_sanitizer_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/sponge_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4279cd59f6575f0f21fe053177b4bc70ee38bf6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_031_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca0ba5d07679264cd4150d6c30aebdddff1f18c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/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/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.glb b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..06d6bbc9774943f2d22de6e3cf3445c6bd89cb94
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.glb
@@ -0,0 +1,3 @@
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+size 19732408
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.mtl b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..73fd8e11f2354beaa9391dffce8a26b472fa25f5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_031_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
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c086fea58f2f6eea522cd90798b9eb825da8e2a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031.obj
@@ -0,0 +1,129652 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031_collision.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7d6dd1675aa722b0adc5642709f2c580466211
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mesh/sponge_031_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc3a312591550338e565336807285e11836affd9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision.obj
@@ -0,0 +1,12842 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_0.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f678af87f9698b99dfa6fe2afdee4c9082f92e6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_0.obj
@@ -0,0 +1,694 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_1.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..645afa0b964b52e7b25d27ac8d5045e02c9e3f87
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_10.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d3ef4fb428515cb5023fe0a1638c9cd509ab517
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_10.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_11.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc8dda2fab79897ba5bd0eae8cca343bb1a924d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_12.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5186a5a47392cb14b662333dc3e90c778d9892b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_13.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1454fb10211edf52036fe4afa1ca7b2f27ecb211
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_13.obj
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+f 78 83 79
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_14.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a0d3c27879fe5f2c1f056ee06bc13afcbc799da
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_14.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.01797717 0.01258689 0.01017316
+v 0.01243526 0.01258689 0.01003520
+v 0.01243526 0.01038459 0.01003924
+v 0.01243526 0.01011366 0.01003924
+v 0.01797717 0.01165207 0.01016707
+v 0.01797717 0.01258693 -0.00122738
+v 0.01243526 0.01258697 -0.01030075
+v 0.01797717 0.01011366 0.01008591
+v 0.01243526 0.01011374 -0.01031496
+v 0.01797717 0.01011371 -0.00372095
+v 0.01622552 0.01258696 -0.00940193
+v 0.01464150 0.01258697 -0.01055031
+v 0.01243526 0.01195892 -0.01030482
+v 0.01464150 0.01011374 -0.01054829
+v 0.01642678 0.01011373 -0.00945267
+v 0.01597761 0.01258697 -0.01042451
+v 0.01569661 0.01011374 -0.01049351
+v 0.01596188 0.01011374 -0.01045293
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 10
+f 1 10 6
+f 1 6 11
+f 1 11 16
+f 1 16 12
+f 1 12 7
+f 1 7 2
+f 2 7 13
+f 2 13 9
+f 2 9 4
+f 2 4 3
+f 4 8 5
+f 4 9 14
+f 4 14 17
+f 4 17 18
+f 4 18 15
+f 4 15 10
+f 4 10 8
+f 6 10 11
+f 7 12 13
+f 9 13 12
+f 9 12 14
+f 10 15 16
+f 10 16 11
+f 12 16 17
+f 12 17 14
+f 15 18 16
+f 16 18 17
+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_15.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25e0f835a164d5a2965744e3087c099985dea99
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_15.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00279194 0.01725185 -0.01048435
+v -0.00389457 0.01725185 -0.01043865
+v -0.00389457 0.01836601 -0.01051343
+v -0.00475446 0.03094818 -0.01101610
+v -0.00100836 0.02264033 -0.01054458
+v -0.00151182 0.01725185 -0.01036387
+v -0.00475446 0.01725185 -0.01035764
+v -0.00475446 0.03114951 -0.01098079
+v -0.00100836 0.03012787 -0.01035135
+v -0.00100836 0.02268114 -0.01054458
+v -0.00100836 0.02113438 -0.01046979
+v -0.00143775 0.01725185 -0.01026208
+v -0.00475446 0.01725177 0.01004380
+v -0.00100836 0.03114951 -0.00989850
+v -0.00475446 0.03114943 0.01020588
+v -0.00100836 0.01725184 -0.00947477
+v -0.00389457 0.01725177 0.01005627
+v -0.00475446 0.01836593 0.01005835
+v -0.00100836 0.03114943 0.01005008
+v -0.00357188 0.01725177 0.01005627
+v -0.00100836 0.01725177 0.01004796
+v -0.00100836 0.01980385 0.01006666
+v -0.00100836 0.02411898 0.01008122
+v -0.00100836 0.02843411 0.01006669
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 16
+f 1 16 21
+f 1 21 20
+f 1 20 17
+f 1 17 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 4
+f 4 8 9
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+f 4 10 5
+f 4 7 13
+f 4 13 18
+f 4 18 15
+f 4 15 8
+f 5 10 9
+f 5 9 14
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+f 5 22 21
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+f 5 16 11
+f 5 11 6
+f 6 11 12
+f 8 14 9
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+f 8 19 14
+f 11 16 12
+f 13 17 18
+f 15 18 17
+f 15 17 20
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 19
+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_16.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca887be02bff3e4f0b31f66495c049c5e6713349
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_16.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02246950 0.00806889 -0.01149443
+v -0.02246950 0.00829541 -0.01163210
+v -0.01585418 0.00806889 -0.01029404
+v -0.02246950 0.00806881 0.01050640
+v -0.02246950 0.00919968 -0.01199198
+v -0.02243065 0.01117274 -0.01244363
+v -0.01815384 0.01692557 -0.01236390
+v -0.01815384 0.01725097 -0.01240738
+v -0.01699203 0.01725096 -0.01189534
+v -0.01585418 0.01725096 -0.01096304
+v -0.01585418 0.00806881 0.01005474
+v -0.02246950 0.00829533 0.01062233
+v -0.02246950 0.01117274 -0.01244604
+v -0.01957923 0.01692557 -0.01254747
+v -0.01957923 0.01725097 -0.01254264
+v -0.01585418 0.01725088 0.01025041
+v -0.01793106 0.01725088 0.01163678
+v -0.01867128 0.01725088 0.01206187
+v -0.02023914 0.01468008 0.01203288
+v -0.02246950 0.01147107 0.01204495
+v -0.02246950 0.01080860 0.01186622
+v -0.02246950 0.01261094 -0.01248951
+v -0.02100526 0.01692557 -0.01249433
+v -0.02100526 0.01725097 -0.01246293
+v -0.01875417 0.01725088 0.01206912
+v -0.02105383 0.01413985 0.01208843
+v -0.01998981 0.01548727 0.01207395
+v -0.02156220 0.01298659 0.01205945
+v -0.02246950 0.01221175 0.01209567
+v -0.02243065 0.01548736 -0.01245327
+v -0.02246950 0.01548646 -0.01244119
+v -0.02246950 0.01601141 -0.01232526
+v -0.02246950 0.01702803 -0.01209581
+v -0.02246950 0.01725006 -0.01204026
+v -0.02246950 0.01725096 -0.01190017
+v -0.01917317 0.01725088 0.01210052
+v -0.02100526 0.01548727 0.01212709
+v -0.02235941 0.01254973 0.01210051
+v -0.02246950 0.01246524 0.01210051
+v -0.02246950 0.01725088 0.01079626
+v -0.01953066 0.01725088 0.01210052
+v -0.02053963 0.01725088 0.01208120
+v -0.02092884 0.01680953 0.01207637
+v -0.02246950 0.01404187 0.01209809
+v -0.02246950 0.01675739 0.01124792
+v -0.02222536 0.01725088 0.01117788
+v -0.02070218 0.01725088 0.01206187
+v -0.02174677 0.01625312 0.01202323
+v -0.02195012 0.01548727 0.01206187
+v -0.02246950 0.01498929 0.01200874
+v -0.02246950 0.01668009 0.01129140
+v -0.02234905 0.01680953 0.01131797
+v -0.02134266 0.01725088 0.01183484
+v -0.02129280 0.01725088 0.01185899
+v -0.02135303 0.01721222 0.01184691
+v -0.02246950 0.01564817 0.01180585
+v -0.02246950 0.01630166 0.01148220
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+f 53 55 54
+f 55 57 56
+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_17.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9488711ea18523ed83742eca7a94c535d8d79f7e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_17.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00179578 0.01725185 -0.01045926
+v -0.00100836 0.02113438 -0.01046937
+v -0.00100836 0.02264033 -0.01054431
+v 0.00180846 0.02124185 -0.01060709
+v 0.00269282 0.01887751 -0.01051191
+v 0.00269282 0.01725185 -0.01042077
+v 0.00073680 0.01725185 -0.01028102
+v -0.00100836 0.01725184 -0.00947490
+v -0.00100836 0.02268114 -0.01054431
+v 0.00269282 0.02035080 -0.01054634
+v 0.00038284 0.03114951 -0.01044503
+v 0.00269282 0.03114951 -0.01031338
+v 0.00269282 0.01725177 0.00987208
+v -0.00100836 0.01725177 0.01004829
+v -0.00100836 0.03012787 -0.01035186
+v -0.00077106 0.03114951 -0.01037009
+v 0.00269282 0.03114943 0.01007062
+v 0.00269282 0.01980385 0.01001185
+v 0.00038284 0.01725177 0.01004829
+v -0.00100836 0.01980385 0.01006653
+v -0.00100836 0.03114951 -0.00989816
+v 0.00180846 0.03114943 0.01007062
+v 0.00038284 0.02411898 0.01008478
+v 0.00269282 0.02268106 0.01007262
+v 0.00269282 0.02069626 0.01004426
+v 0.00269282 0.02124177 0.01006249
+v -0.00100836 0.02411898 0.01008073
+v -0.00100836 0.03114943 0.01005037
+v -0.00100836 0.02846948 0.01006656
+v -0.00100836 0.02415435 0.01008073
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 19
+f 1 19 14
+f 1 14 8
+f 1 8 7
+f 1 7 2
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+f 2 8 14
+f 2 14 20
+f 2 20 27
+f 2 27 30
+f 2 30 29
+f 2 29 28
+f 2 28 21
+f 2 21 15
+f 2 15 9
+f 2 9 3
+f 3 9 4
+f 4 10 5
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+f 4 11 12
+f 4 12 10
+f 5 10 12
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+f 5 26 25
+f 5 25 18
+f 5 18 13
+f 5 13 6
+f 9 15 16
+f 9 16 11
+f 11 16 21
+f 11 21 28
+f 11 28 22
+f 11 22 17
+f 11 17 12
+f 13 18 19
+f 14 19 20
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+f 19 24 20
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+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 27
+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_18.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b60007843a8ce58c8c882a036e77a827f8d43c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_18.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00180600 -0.02047655 -0.01051276
+v -0.00104844 -0.00896980 -0.01042777
+v 0.00180600 -0.01903617 -0.01050062
+v 0.00269069 -0.02136880 -0.01050063
+v -0.01908535 -0.02241475 -0.01050872
+v -0.01908535 -0.02241339 -0.01050872
+v -0.01244702 -0.01759986 -0.01050668
+v -0.01814951 -0.00896980 -0.01048844
+v -0.00104844 -0.00851959 -0.01039136
+v 0.00037772 -0.00851959 -0.01037316
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_19.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c394852548ee363cbf7de68c1d0cea83ef042979
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_19.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_2.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32da86e2546ed9f968dc24777a83d8dfa896818f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_2.obj
@@ -0,0 +1,706 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_20.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f304c1dd4402740bc7c643962511565b6e636cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_20.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_21.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d157a9774bcb46306f586c191ba7547dbb9e5a7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_21.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_22.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee5308a6ae0e041098d3f705f12163c303fc69bf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_22.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_23.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f6ab9d51cba10982fda9cb2fb0a16c7b8c61d3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_23.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_24.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f168e60beedb16096cf71770cd1c682c68492978
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_24.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_25.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0c33bf5c594c3a7e423a720b32cd38720c5d6b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_25.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_26.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f363dfb7bc879a7536a0ec12bb7d3d27d7fd3744
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_26.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_27.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac1c88a18dcb7d9f8de690e51e1f22139851ed2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_27.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00269282 0.00785964 0.01006327
+v 0.00269282 0.00918651 0.01005116
+v 0.00038171 0.00973232 0.01006732
+v 0.00180686 0.00685542 0.01007336
+v 0.00269100 0.00685542 0.01006731
+v 0.00269100 0.00541697 0.01005922
+v 0.00269100 0.00115833 0.00990179
+v 0.00269282 0.00785972 -0.01044083
+v 0.00269282 0.00973232 0.01004310
+v 0.00038171 0.01065751 0.01005521
+v -0.00104345 0.01065751 0.01006126
+v -0.00583270 0.01065751 0.01007539
+v -0.00674589 0.01065751 0.01007741
+v -0.00532073 0.00829387 0.01008547
+v -0.00668779 0.00115833 0.01007333
+v -0.00241596 0.00115833 0.01006122
+v -0.00104527 0.00115833 0.01005113
+v 0.00269100 0.00115841 -0.01031170
+v 0.00269100 0.00685550 -0.01048119
+v 0.00269100 0.00749894 -0.01046706
+v 0.00269282 0.00828744 -0.01041258
+v 0.00269282 0.01065751 0.00997045
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+v -0.00674226 0.00115841 -0.01039041
+v -0.00532255 0.00254200 -0.01044690
+v 0.00038171 0.00973240 -0.01052558
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+v 0.00269100 0.00785972 -0.01044285
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+v -0.01530046 0.01065759 -0.01043678
+v 0.00150368 0.01065759 -0.00999078
+v -0.01562361 0.01065759 -0.01041055
+v -0.01585418 0.00115841 -0.01030363
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_28.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..886eba7b2bdf9ea0815e529b846571fd6faa3bc6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_28.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01243526 0.00253011 -0.01054634
+v 0.01243526 0.00254050 -0.01054634
+v 0.01464150 0.00973270 -0.01054833
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+v 0.01797717 0.00253003 0.01002157
+v 0.01797717 0.00541759 0.01008420
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_29.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cbb53eb363c285ffbe515979d534740cc78d81e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_29.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01821005 0.00115909 -0.01035988
+v -0.02139279 0.00806821 -0.01079799
+v -0.01585418 0.00115909 -0.01030460
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+v -0.01815366 0.00115901 0.01005447
+v -0.01585418 0.00541718 0.01006677
+v -0.01672767 0.00115901 0.01005651
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+f 1 4 2
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+f 14 18 15
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_3.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158b023ef0d7d29a7ce17f1232e993195ad708e7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_3.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
+v -0.02354239 -0.02340665 0.01210840
+v -0.02354239 -0.02430153 0.01207677
+v -0.02251757 -0.02487845 0.01210354
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_30.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..496f643fade75ee386cd69f65db8e3a94370608b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_30.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_31.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc02fb96dd6ae4cca6f471afdf5866c99cb357d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_31.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_32.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe33ae46363eed3da53bb6068ed20e6e15f7e88a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_32.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_4.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d03911c5e7c24d39c9be58b4d2fc572eb3ffda1b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_5.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..592145bd588defad22a9b20f3a7efc476da5e9a6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_5.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_6.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830c4638452be0ef7d43eaa5a53705c831fe4a83
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_6.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_7.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92d0dba5d9a00b67b302999bce5afdf0f2e4771
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_7.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_8.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e8d9683d34177986b65c3320b761127bf925ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_8.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_9.obj b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb9da12f7edaf56506e07d6cfdc6415221557711
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/mesh/sponge_031_collision_9.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00269282 0.01548760 0.01006661
+v 0.00038171 0.01725177 0.01004792
+v -0.01585418 0.01725177 0.01025143
+v 0.00269282 0.01417337 0.01005621
+v 0.00269282 0.01725177 0.00987140
+v -0.01585418 0.01417337 0.01001260
+v -0.01102317 0.01417337 0.01005413
+v -0.00959802 0.01417337 0.01006452
+v -0.00092181 0.01417337 0.01006452
+v 0.00050516 0.01417337 0.01006244
+v -0.01585418 0.01725185 -0.01096356
+v 0.00269282 0.01417345 -0.01049840
+v 0.00269282 0.01725185 -0.01041948
+v -0.01585418 0.01417342 -0.00231228
+v 0.00179597 0.01725185 -0.01045894
+v 0.00180686 0.01692608 -0.01048178
+v -0.01102317 0.01417345 -0.01052955
+v -0.01114844 0.01417345 -0.01052332
+v -0.01248827 0.01417345 -0.01040288
+v -0.01585418 0.01718435 -0.01091995
+v 0.00269282 0.01692608 -0.01044232
+v 0.00246588 0.01725185 -0.01042986
+v -0.01585418 0.01638784 -0.00944346
+v -0.01293851 0.01417344 -0.00944347
+v -0.01585418 0.01694386 -0.01076420
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+
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/sponge_031.xml b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/sponge_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7fb90e9e3d4e796781a49abf941e8cac79c36538
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/mjcf/sponge_031.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_031">
+  <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_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_031_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_031_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_031_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_031_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_031_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_031_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_031_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_031_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sponge_031_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sponge_031_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sponge_031_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sponge_031_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sponge_031_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sponge_031_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sponge_031_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sponge_031_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sponge_031_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sponge_031_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sponge_031_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sponge_031_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sponge_031_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sponge_031_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sponge_031_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sponge_031_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sponge_031_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_031">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" 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/f26379ed9ff95d249d8ffe98be47e19f/sponge_031.urdf b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/sponge_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0e0164743031a758566c10eb8221443e7e4edbd1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/sponge_031.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_031">
+   <link name="sponge_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_031.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_031_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>f26379ed9ff95d249d8ffe98be47e19f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>teardrop sponge</name>
+         <color>orange</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>orange teardrop sponge with porous surface and rounded sides</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>20260609170700</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.032285 -0.037396 -0.012969</min>
+            <max>0.031612 0.049794 0.012031</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/sponge_031.usd b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/sponge_031.usd
new file mode 100644
index 0000000000000000000000000000000000000000..018c17d3273363a959e717b4918cdaff2159a193
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/sponge_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e35ae2d58addfb9031d0daecff8117684cdb6eabd76a13c3114bace903c82e9e
+size 5106678
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/textures/material_0.png b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca0ba5d07679264cd4150d6c30aebdddff1f18c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:557857502876ead79c3c4fac9587ebc491bbfe3a2874ce060453becd4c665deb
+size 16095647
diff --git a/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/video.mp4 b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a1d6c33d6b09f5336f8c1c68a152aa3abdc4a2e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86fb268d33f33f565613283b221abe95e3ba160b590c2516d135f6d2ce75d4d1
+size 515736