diff --git a/.gitattributes b/.gitattributes
index 9ee9ebc022767d21a6ea1a23600471b54412d4a4..6cd18ddc1c3d592a62f8ee7b2634a036b610cc1b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2429,3 +2429,5 @@ dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sp
 dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/sponge_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aea05d4015dfaba0d8e78e76dd0a0d3ec6ecdaa1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b24b8257b94d8241f54dc5dd20390bdee33dd6e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc979a5a57156e5b82a1f55ce7134c44d80302e34cee1d4b9cff868fda213634
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.glb b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..83fe5d546e43edbf6bdd71d9921c6449aad3c2f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7f9fbca7c0969157180067f50bdcdb1b36d57fe837e1c0b910208d3170a39f8
+size 12327472
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.mtl b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..341cbd9e50414ba84c48e8abbf1c5c215ede90a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_015_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aa881e7a2a8af656449007750e4eb2f84835bdb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.obj
@@ -0,0 +1,123922 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_015_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015_collision.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..364c5f0651efb3aa6e7bbd5963968c85bcf99b5d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015_collision.obj
@@ -0,0 +1,20249 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f64f92d14a010ab2a88786c491fa87a30c07461
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision.obj
@@ -0,0 +1,20249 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_0.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8f1b0e08c7839efe998d2248003be5c58064f2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_0.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_1.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd826f8232f244d3636a5cb4b0cf6caa2f625112
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_1.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_10.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8902ea553f5947fd4356c31620612cbf6f45e8a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_10.obj
@@ -0,0 +1,652 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_11.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f7ae6bee456958d355ab0c7ce7c0a75ea5290de
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_11.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_12.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57486c190fe7aef2af7da49d862ce2ba703b7d0b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_12.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_13.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88e90e3cd42dadcffa995efa22069756746080d9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_13.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_14.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3429ac96ace6ff78e8f717bd0f5863277b9e2410
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_14.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_15.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23cf401789ef29c154208031adaad6694114ce9c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_15.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_16.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f423c2d858b0a116f3a7a392e54bb1796e8d74e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_17.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98fd1c947db7dcab50bd468d34c61ebcebfec3fb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_17.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_18.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f78d47f145af7b6194836653fd657c5d5353fd1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_18.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_19.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb3d084f5f152d98ee398c20fd74e7323e8d337c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_2.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d75e61760dd5d22303f49e399608ef2535530ad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_2.obj
@@ -0,0 +1,994 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_20.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5ebfc23a693056bb4660fba3c5703759d400b6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_20.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_21.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdd9236256e1c94681c96f8e0302490d9a1388f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_21.obj
@@ -0,0 +1,811 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_22.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..921953acbd7941f9323b15edcea40b8fec120e66
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_22.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03180855 -0.02247276 -0.02414139
+v 0.02458006 -0.02066974 -0.02414139
+v 0.03181674 -0.01886111 -0.02416529
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_23.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2bb1f3a2eef7082e605d6bda93727ff336cfe3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_23.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.02892227 -0.02585884 0.02129753
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_24.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1595757f501d3ba2ea5676ea6af0658fb48245c0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_24.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v -0.02892227 -0.03248649 0.02742181
+v -0.02923409 -0.03277658 0.02733802
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_25.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f271b6046527febd5dc72dce7b66e518431c9c26
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_25.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_26.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e628eff7151ffc39ab3c5a084313dfa4d404f85e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_26.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_27.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..343b4ac3321f62d8dd905f9e6e0c188dc2857143
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_27.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_28.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e782b7a885406642dbf9f610d1d73e61519f5a04
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_28.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_29.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d54818a976e6e1b2e9c949e96194a51430517e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_29.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.03120111 -0.03121070 -0.02416358
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_3.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b599276a702c252a79198e80d1c95e721b67ba7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_3.obj
@@ -0,0 +1,730 @@
+# https://github.com/mikedh/trimesh
+v 0.04490332 -0.02247279 -0.01681936
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_30.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d66f80e704ed7f0ddd5081062d160cace260ea5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_30.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_31.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e729acf22c408a513e29de0db5d59e3346cae6b6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_31.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_32.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd1d66ac3bb77446f49f36f1288814700409ef2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_32.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_33.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ed7f5357e29b4fefd5a6430a8603ecd687efa3f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_33.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_34.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3dedb362be604a2daa13c55ce24621e43dd5573
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_34.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_35.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efd591eb3a368584bedc14c5c8fc434e52ea79b3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_35.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_36.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd4ee83ee9ff90ef499a48c512481ff81dae5d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_36.obj
@@ -0,0 +1,661 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_37.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658f2c66f9cd90691f41839ec1a89dab9c2b9540
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_37.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00373818 -0.03240090 -0.02417411
+v 0.00286674 -0.03240090 -0.02416976
+v 0.00286674 -0.03152821 -0.02417411
+v 0.00286674 -0.02248216 -0.02417842
+v 0.00554743 -0.03240090 -0.02416106
+v -0.00068014 -0.02978979 -0.02416105
+v -0.00068014 -0.03240090 -0.02413930
+v -0.00068014 -0.02436216 -0.02416973
+v 0.00105814 -0.02429137 -0.02417408
+v -0.00068014 -0.02429137 -0.02416973
+v 0.00286674 -0.02054530 -0.02413055
+v 0.00467599 -0.02054530 -0.02414796
+v 0.00603310 -0.02054530 -0.02413055
+v 0.00603310 -0.03240090 -0.02415670
+v -0.00068014 -0.03240106 0.02027793
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+v 0.00603310 -0.02054541 0.00493842
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+v -0.00068014 -0.02054546 0.02027797
+v 0.00276619 -0.02054546 0.02027797
+v 0.00603310 -0.02345250 0.02027796
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_38.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a711eed90861bc70a09b312e51b4ab28d8fb6c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_38.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00068079 -0.05278469 0.00341613
+v 0.00104834 -0.05249538 0.00341613
+v -0.00068079 -0.05253132 0.01177084
+v -0.00068079 -0.03240100 0.00341620
+v 0.00145867 -0.05239961 0.00341613
+v 0.00023374 -0.05235973 0.01177084
+v 0.00007930 -0.05238966 0.01177084
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+v 0.01478756 -0.03240100 0.00341620
+v 0.00226570 -0.05220207 0.00341613
+v 0.00038061 -0.05232182 0.01177084
+v 0.01478756 -0.03240103 0.01177091
+v 0.01478756 -0.04832127 0.00341614
+v 0.00277899 -0.05206240 0.00341613
+v 0.00113768 -0.05211431 0.01177084
+v 0.01478756 -0.04463603 0.01177087
+v 0.00537421 -0.05042033 0.01177084
+v 0.00461715 -0.05079943 0.01177084
+v 0.00447028 -0.05087126 0.01177084
+v 0.00420379 -0.05098499 0.01177084
+v 0.00286833 -0.05155165 0.01177084
+v 0.00259276 -0.05164143 0.01177084
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_39.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b4d187b8f96c53bbfe4d3b5c2731772ca62d6a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_39.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.03324416 0.01930324 0.02134233
+v -0.03324416 0.01930331 0.00329177
+v -0.03324416 0.02999681 0.02065115
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+v -0.03719729 0.02999680 0.02425240
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_4.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4563b97fb30f60677a7cdb2f4a95bf19979a335a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_4.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_40.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37a3c06e46c43bfede9bd8b6c82179ce61c27c39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_40.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01478756 -0.03695806 0.02835132
+v 0.01372313 -0.03695806 0.02837900
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_41.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1dbf218d3706cbf45799beba01230911d3f85bc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_41.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02159661 0.02637945 0.02419680
+v 0.02159661 0.02523965 0.02407316
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_42.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2017481453f4518e996f672de57182e225d2e94e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_42.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.04704013 -0.01407408 0.02220671
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_43.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd465bfd1d20958040faf7aeba19f8e0dc30f7e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_43.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02433812 -0.00340656 0.02027804
+v 0.00591778 -0.00340656 0.02027804
+v 0.02433812 -0.02054378 0.02027797
+v 0.02433812 -0.00340640 -0.02403784
+v 0.00591778 -0.01770492 0.02027798
+v 0.00591778 -0.00340640 -0.02395952
+v 0.00810875 -0.02054378 0.02027797
+v 0.02433812 -0.02054362 -0.02413799
+v 0.02433812 -0.00438625 -0.02407266
+v 0.02276928 -0.00619493 -0.02414663
+v 0.01372411 -0.00340640 -0.02409006
+v 0.00591778 -0.02054373 0.00495342
+v 0.00829629 -0.00340640 -0.02405090
+v 0.00591778 -0.00381747 -0.02400738
+v 0.01010496 -0.02054362 -0.02416845
+v 0.02433812 -0.02043121 -0.02414234
+v 0.02433812 -0.01138442 -0.02415970
+v 0.01010496 -0.01162435 -0.02416841
+v 0.00829629 -0.00619493 -0.02415098
+v 0.00829629 -0.00438625 -0.02411617
+v 0.00591778 -0.02054362 -0.02413364
+v 0.00591778 -0.00407753 -0.02402044
+v 0.00997873 -0.02054362 -0.02416845
+v 0.01010496 -0.01705208 -0.02417278
+v 0.01915013 -0.01886077 -0.02415973
+v 0.02433812 -0.01162435 -0.02415970
+v 0.00591778 -0.01705208 -0.02414232
+v 0.00591778 -0.00619493 -0.02408136
+v 0.00591778 -0.00562783 -0.02407701
+v 0.00591778 -0.00438625 -0.02403350
+v 0.00817006 -0.02054362 -0.02415539
+f 1 2 5
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+f 1 8 16
+f 1 16 26
+f 1 26 17
+f 1 17 9
+f 1 9 4
+f 1 4 11
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+f 1 13 6
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+f 23 31 24
+f 24 31 27
+f 24 26 25
+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_44.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7255e0e45fa203ef3e9122a1fd8e5aa9a24bd189
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_44.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00068079 -0.04066390 0.02159336
+v -0.00068079 -0.03637117 0.02047336
+v -0.01160860 -0.04066390 0.02271798
+v -0.00068079 -0.04066373 -0.02373111
+v -0.00197403 -0.03637117 0.02056516
+v -0.00068079 -0.03637100 -0.02403405
+v -0.01160860 -0.03637117 0.02079008
+v -0.01160860 -0.04066374 -0.02259272
+v -0.00247571 -0.04066373 -0.02411670
+v -0.00256128 -0.03637100 -0.02412127
+v -0.01160860 -0.03637101 -0.02143136
+v -0.01160860 -0.04066331 -0.02400194
+v -0.01160753 -0.04066373 -0.02400194
+v -0.00428453 -0.04066373 -0.02413965
+v -0.00798882 -0.04057717 -0.02417637
+v -0.00798882 -0.03637100 -0.02411668
+v -0.01160753 -0.03637100 -0.02390093
+v -0.01160860 -0.03695844 -0.02379537
+v -0.01160860 -0.04057717 -0.02399735
+v -0.00857607 -0.03637100 -0.02410750
+v -0.00798882 -0.04066373 -0.02417178
+v -0.00790217 -0.04066373 -0.02417178
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 21
+f 1 21 22
+f 1 22 14
+f 1 14 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
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+f 2 7 5
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+f 12 20 15
+f 12 15 21
+f 12 21 13
+f 14 22 15
+f 15 20 16
+f 15 22 21
+f 17 19 18
+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_45.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c083e90b88b3b26cdce67a5e43427f399b491ab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_45.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02970116 0.00991295 -0.02410756
+v -0.03151086 0.00991295 -0.02404550
+v -0.03324416 0.01371252 -0.02409323
+v -0.02970116 0.01190239 -0.02414098
+v -0.02608456 0.01371252 -0.02410755
+v -0.02608456 0.01190239 -0.02398821
+v -0.02608456 0.00991295 -0.02348694
+v -0.03314043 0.00991295 -0.02398821
+v -0.02970116 0.02237409 -0.02415049
+v -0.02970116 0.01552144 -0.02416483
+v -0.02970116 0.01371252 -0.02416007
+v -0.03324416 0.00991295 -0.02398344
+v -0.03324416 0.01914049 -0.02405025
+v -0.02608456 0.02094940 -0.02401682
+v -0.02608456 0.00991277 0.02454926
+v -0.02931637 0.02237409 -0.02412662
+v -0.03324416 0.02237409 -0.02383540
+v -0.03324416 0.00991278 0.02101172
+v -0.02608456 0.02234603 -0.02363012
+v -0.02608456 0.01190099 0.02460655
+v -0.02789286 0.00991277 0.02455881
+v -0.02608456 0.02237409 -0.02362057
+v -0.03324416 0.02237392 0.02081602
+v -0.03104967 0.00991277 0.02405277
+v -0.03324416 0.01362208 0.02385704
+v -0.02970116 0.01371234 0.02440605
+v -0.02789286 0.01190221 0.02459223
+v -0.02970116 0.01009330 0.02456836
+v -0.02608456 0.01396850 0.02423896
+v -0.02970116 0.00991277 0.02456359
+v -0.02608456 0.02237392 0.02048661
+v -0.03324416 0.01544197 0.02390479
+v -0.02970116 0.01505531 0.02395731
+v -0.02970116 0.02237392 0.02067280
+v -0.03324416 0.01366843 0.02389046
+v -0.02970116 0.01190221 0.02455404
+v -0.02608456 0.01421367 0.02415303
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+f 31 34 37
+f 33 37 34
+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_46.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1039989dd91ab03a4c34db4a6ec6923064d33ad3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_46.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02433992 -0.02054546 0.02027797
+v 0.00810821 -0.02054546 0.02027797
+v 0.02433992 -0.03240106 0.02027793
+v 0.02433992 -0.02054530 -0.02414039
+v 0.00603310 -0.02345250 0.02027796
+v 0.00603310 -0.02054541 0.00493953
+v 0.00603310 -0.03240106 0.02027793
+v 0.02433992 -0.03240090 -0.02414043
+v 0.02433992 -0.03128915 -0.02415347
+v 0.01734047 -0.02790979 -0.02417522
+v 0.01010626 -0.02054530 -0.02417085
+v 0.00603310 -0.02054530 -0.02413169
+v 0.00603310 -0.03240090 -0.02415784
+v 0.01734047 -0.03240090 -0.02416219
+v 0.01734047 -0.02971900 -0.02417088
+v 0.00829636 -0.03240090 -0.02417089
+v 0.00997903 -0.02054530 -0.02417085
+v 0.00817092 -0.02054530 -0.02415344
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 17
+f 1 17 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 13
+f 3 13 16
+f 3 16 14
+f 3 14 8
+f 4 9 10
+f 4 10 11
+f 5 6 12
+f 5 12 13
+f 5 13 7
+f 8 14 9
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 17
+f 13 17 16
+f 14 16 15
+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_47.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c195becdc3bfda0b846881f25faff4aaeb657e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_47.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00455040 -0.02054362 -0.02414619
+v 0.00467635 -0.01705208 -0.02416358
+v 0.00467635 -0.01886077 -0.02415489
+v 0.00467635 -0.02054362 -0.02414619
+v 0.00286652 -0.02054362 -0.02413314
+v 0.00286652 -0.00438625 -0.02417659
+v 0.00591778 -0.01705208 -0.02414182
+v 0.00591778 -0.02054362 -0.02413314
+v -0.00068079 -0.01705208 -0.02399822
+v -0.00068079 -0.01162435 -0.02410264
+v -0.00068079 -0.02054362 -0.02350653
+v 0.00286652 -0.00340640 -0.02416788
+v 0.00591778 -0.00562783 -0.02407651
+v 0.00591778 -0.00619493 -0.02408086
+v -0.00068079 -0.00438625 -0.02409827
+v 0.00591778 -0.02054373 0.00495644
+v -0.00068079 -0.02054378 0.02027797
+v -0.00068079 -0.00340640 -0.02397207
+v 0.00369651 -0.00340640 -0.02412001
+v 0.00591778 -0.00438625 -0.02403300
+v 0.00591778 -0.01770492 0.02027798
+v 0.00276641 -0.02054378 0.02027797
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+v 0.00550569 -0.00340640 -0.02399817
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_48.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5e8dd946bc12febc7e67e24140ac64722ae3ff9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_48.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_49.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40f481c7712dec2f19500cd3df7bd8be84fa3f01
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_49.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_5.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e375adc2f0cd82378c77a7e5ac5d74fd26482e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_5.obj
@@ -0,0 +1,769 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_50.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a65bdeb2bb40688fa1e79c7f16659fed1d038dd8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_50.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_51.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba651c12df1e706ac13cef16b4bd562e15f515b9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_51.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00068079 0.00285397 0.02485099
+v -0.00256141 -0.00102890 0.02483655
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_52.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69baf3fd20b91494211fc0296b4957180a4df0a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_52.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00829536 -0.00340473 -0.02405037
+v 0.01010409 -0.00340473 -0.02402639
+v 0.00551262 -0.00340473 -0.02399763
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+v 0.00551262 -0.00340491 0.02458127
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+v 0.00829536 0.01009281 -0.02416059
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+v 0.01180986 -0.00340473 -0.02399283
+v 0.00829536 -0.00340491 0.02466277
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_53.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8351d47e53056052decf733b7a6cb699ebc83aa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_53.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01915142 0.00659213 -0.02415502
+v 0.01915142 0.01190245 -0.02417418
+v 0.02276968 0.00659213 -0.02415502
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_54.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..586ad7867bfa73039c6bf4c9ffdc24df81736efd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_54.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00286696 -0.00340473 -0.02416837
+v -0.00068079 0.00278377 -0.02417315
+v 0.00286696 0.00285632 -0.02417796
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_55.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e681b587e3d76c36c616d433afc3b9c1a74d840
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_55.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_56.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..279f53918a24a366fa5e094088c7d5c6b4da6694
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_56.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.01478756 -0.03816978 0.02832710
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_57.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b13c040a2076a8908fe912bcf6d8902f9a38ce
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_57.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_58.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db37766072a819c1e50df508d8fd6aa98a50af3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_58.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_59.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d29b2c5ea8944d2ecf50f96ffe1b50156badceb9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_59.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_6.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ea4487388cd3919fc65bc0251630bbe787af98
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_6.obj
@@ -0,0 +1,697 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_60.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32577cd2fb76a912f1329b96a19d2c4068bdb95f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_60.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_61.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eea770d91aa9fab6f5596e22ce241c16564a849
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_61.obj
@@ -0,0 +1,316 @@
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_62.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93e18a734b5119b1929e3d8e5f78e2b1be079e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_62.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v -0.02834828 0.03611370 0.02395210
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_63.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc32583161c3f9d469140b1ffd5ffbcc83ed2cf3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_63.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01478756 -0.03458686 0.02703939
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+v 0.01372313 -0.03450235 0.02689142
+v 0.01372313 -0.03458686 0.02696615
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_64.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca446d612800708339c171180a658e51b3e11759
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_64.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_65.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba5a3b8169b75c7cbf844a0c9463d92aac9e585d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_65.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+v 0.01181048 -0.00340473 -0.02399033
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_7.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b2507ae1bac107f27bca182de3ed673a2176492
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_7.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_8.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac5f0db4582612d0bbfcb1be6cf8ff8bb33d4f54
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_8.obj
@@ -0,0 +1,955 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_9.obj b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad3a9d1e6d85bc812218ab29131556cda6c3698
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/mesh/sponge_015_collision_9.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/sponge_015.xml b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/sponge_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..77b84ab5b4aa1375837f46a7da78ec538c238a1b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mjcf/sponge_015.xml
@@ -0,0 +1,146 @@
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+      <geom type="mesh" mesh="collision_mesh_0_65" 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/e602ce62d9d95ed582c06ca5a160ff91/sponge_015.urdf b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/sponge_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..763d99422c891de0a1ccfe534c2887dcca3e5c92
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/sponge_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_015">
+   <link name="sponge_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_015.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_015_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>e602ce62d9d95ed582c06ca5a160ff91</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>round scrub sponge</name>
+         <color>gray,beige</color>
+         <shape>cylinder</shape>
+         <material>stone</material>
+         <description>gray round perforated sponge with scalloped edges and porous faces</description>
+         <min_height>0.0526</min_height>
+         <max_height>0.0526</max_height>
+         <real_height>0.0526</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518151135</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.054814 -0.054073 -0.024007</min>
+            <max>0.055124 0.054355 0.028637</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/sponge_015.usd b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/sponge_015.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/sponge_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db92b476bd1e0980869b3c2e284a1bc0db05edc26b798f18f3cee59035f9b44
+size 5003711
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/textures/material_0.png b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8819847
diff --git a/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/video.mp4 b/dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/video.mp4
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0239e2788f1b4332926da6842ea2676356e5d5978e8c5ef50b6ed73bab5467bc
+size 324408