diff --git a/.gitattributes b/.gitattributes
index db270a912a960cb3c704548c0255cf6a4fc55f89..e5210b34f437bf42133fb387d1b56dc88a1e34dc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2449,3 +2449,5 @@ dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_
 dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/sponge_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d582f497abf7a67e2e343ed828634ecc55bb451
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..abe38aa889344e176fa776a71cd0a3af27edb443
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d732d5c8b67379baae191f05d087ba52930e1de702be93a08ea93a5f171c418
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040.glb b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..964cf30a78e6394e4d617e38df34a464004d61bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a8344d6f7aa4cc654a7b3a7592186cd14b63070caa0c2d7952868f444843afe
+size 27247180
diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040.mtl b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c190b1d34791c72299a31186ccff4d4b579830d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_040_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/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ae03dbd2047d0e53c57596648579896808f20c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040.obj
@@ -0,0 +1,124546 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040_collision.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f9961930157f32e334d92cae8bf8399cac3f0c4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mesh/sponge_040_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da7b18a05c915acafdc35f79b02f8e88897e6e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_0.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe40d2329fc67c995d9995b9b830e25d19b9c057
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_1.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18f56ddb39c9cda2525eebbfa4e05eab0be32e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_1.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_10.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28df0a44b18a465239884bdc3a29a753cbf2d5df
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_10.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_11.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2513b7d366ccd8641a1f84f97f199b786a75bbf9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_11.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_12.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c467358f6fa8e4084786e39d489fe6757aae39c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_12.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_13.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a50c2c07d2a788bfeef803b6de71feb930a6fcb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_13.obj
@@ -0,0 +1,235 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_14.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb39b13dfcb20c8fe7df48202d958b6b9dc2f529
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_14.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01697732 -0.00593391 -0.01236594
+v 0.01229018 0.00048463 -0.01223765
+v 0.01941100 -0.00042082 -0.01205317
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+
diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_15.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0def86dbe8ebfc68ab98bf619b9f75754a47931f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_15.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00419529 0.01324990 0.01205520
+v 0.00386043 0.01293761 0.01213212
+v 0.00419529 0.01321079 0.01205520
+v 0.00419529 0.01450346 0.01199271
+v 0.00386043 0.01283847 0.01213212
+v 0.00419529 0.01631497 0.01188215
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+v 0.00385818 0.01293761 0.01213212
+v 0.00419529 0.01250250 0.01192781
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+v 0.00419529 0.01078628 0.01148792
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+
diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_16.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60c05a1047bc2e90ca520d3364ce0ea167d4c045
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_16.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02632456 0.00215727 0.00235644
+v 0.02621222 0.00215728 -0.00072577
+v 0.01941168 0.00215727 0.00235644
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+
diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_17.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d159c2bf8c0f60695c347879a30bd7710d721739
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_17.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.01876459 0.01353492 0.01169820
+v -0.01876459 0.01641300 0.01168662
+v -0.01892322 0.01353492 0.01170749
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_18.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85b8f775c8d57b9b3da879b930e0957153065f6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_18.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_2.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9c170033795bcf61afa48eadeb38f6d2a50419d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_2.obj
@@ -0,0 +1,727 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_3.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89430cfd431af7ebed06ea4430f2665e60a1694d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_3.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_4.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ae2766355c819af3a03c3cf3ffe423da5f29b44
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_4.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_5.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70054593182da2e6342903b6bbe9cab71e1673a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_5.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_6.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c304b1421a4134e72dad28314df671120d163309
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_6.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_7.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68cad604fb97f79682063adfd6027671071f0ba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_7.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_8.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3facc5c323e3c5977da5239874cf9a19d063e969
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_8.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_9.obj b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b995e4baebccc59db8b5339626cd161e312f625
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/mesh/sponge_040_collision_9.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/sponge_040.xml b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/sponge_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cd705e90b4f63a3ce1861aa8db92cac4685691f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/mjcf/sponge_040.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_040">
+  <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_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sponge_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sponge_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sponge_040_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_040">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/sponge_040.urdf b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/sponge_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7b9a684547cd17a9abc3ef3134a608b5f8fcaab2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/sponge_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_040">
+   <link name="sponge_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>f87690802ab55cf986bee1773dc295a4</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>natural sponge</name>
+         <color>beige</color>
+         <shape>cuboid</shape>
+         <material>organic</material>
+         <description>porous rectangular beige sponge block with rough fibrous texture</description>
+         <min_height>0.0250</min_height>
+         <max_height>0.0250</max_height>
+         <real_height>0.0250</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171146</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.028318 -0.042979 -0.012532</min>
+            <max>0.027748 0.040835 0.012468</max>
+         </aabb>
+         <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
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diff --git a/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/video.mp4 b/dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/video.mp4
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