diff --git a/.gitattributes b/.gitattributes
index bbc9061175ae68ff6a110ca6dcb07038c12fb47f..2f73acf6c991ae79878df4bb946192e4d6fb0771 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2449,5 +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/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/shampoo_bottle_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/sponge_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35781c06336c1b5e4cc7aee50a95ee97ef277a13
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcc0e69c403c5fde098e35e1ffc9c8ed58b61326
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:346a68928a9e4060f5a89d51eb6c5e71ce8b781d060df68ba8d077541f362870
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013.glb b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..07e8fa1eada19ebef2831466d1f2b4401aac4ad1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c3eac11a83a5a33d4929fa5f3d2dd3f40209cc866c3d0185cb3069e8210b103
+size 14196512
diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013.mtl b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d6f86ec52ff75a91a962fe202891916eb36f8b30
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_013_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/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..155d15f90e44637c0ae2a6de1b5133c023d49d26
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013.obj
@@ -0,0 +1,132402 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_013_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013_collision.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72979437d3da2eb0ea1b3dfa547652e20808e1e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013_collision.obj
@@ -0,0 +1,11305 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mesh/sponge_013_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25794a3dc5560a2b5fb58bf87fb4a0b8a07a93f3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision.obj
@@ -0,0 +1,11305 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_0.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ad6e51fd4bb31c3bb49747715d07ebd1098daf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_1.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfdfea7e5dcc4441dd4aad9e972ad008d73693cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_2.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..521ec169628437cb7bda5a5e9f04c9be36719c35
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_3.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ecf801a8b13eb239082fb8962a4e55f348034e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_4.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670aff965994f955a11b80e05582e2defec6aceb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_4.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_5.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07463fbdc918ba3eac2226145979edef30ed7957
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_5.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_6.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddeb9c6478045e51d011fc0cad2fb38f8220b245
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_6.obj
@@ -0,0 +1,1993 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_7.obj b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7049fcd6dae8e4e3d7184160a97eca68934161
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/mesh/sponge_013_collision_7.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/sponge_013.xml b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/sponge_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3c7cdd1f4af02b8dc3a90394876331be00d464b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/mjcf/sponge_013.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_013">
+  <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_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_013">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/sponge_013.urdf b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/sponge_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cdb0f2ef175644bb4abbbf9d378801262055cc2d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/sponge_013.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_013">
+   <link name="sponge_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.10</mu1>
+            <mu2>0.90</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>f08fb3e68c54555898ff8b1a098df5ee</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>donut sponge</name>
+         <color>beige</color>
+         <shape>ring</shape>
+         <material>organic</material>
+         <description>beige ring-shaped porous sponge with many small holes</description>
+         <min_height>0.0355</min_height>
+         <max_height>0.0355</max_height>
+         <real_height>0.0355</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518151031</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.057210 -0.058455 -0.017233</min>
+            <max>0.057330 0.057166 0.018247</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/f08fb3e68c54555898ff8b1a098df5ee/sponge_013.usd b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/sponge_013.usd
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+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/sponge_013.usd
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+size 5060087
diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/textures/material_0.png b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10656593
diff --git a/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/video.mp4 b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b30a8ab03ae3ad2ecd8bd14284c9daf79c6ec677ceb0c8809c1be5b15e9bb7b
+size 326586