diff --git a/.gitattributes b/.gitattributes
index 2f73acf6c991ae79878df4bb946192e4d6fb0771..95c1b9777f1654c6cc0ffc636f5651af8cc65eba 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/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
+dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/sponge_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..869d55c77cffb4de288860eb12322a43c9afc7f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cf81010ece16f3e23645674b42536ffd2e93ede
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009.glb b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..72d6fb4140d351e73953cda5b9033bc41a1a4cae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99e95c84eb3118e1119ce08d578a43f0136d80c4c7c3860a5b07eeac80f3bcf0
+size 12675100
diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009.mtl b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d707399a90db01741cac156d149d51ce6f989826
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009.mtl
@@ -0,0 +1,6 @@
+newmtl sponge_009_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/fb677688833d532da0612a86d8b38919/mesh/sponge_009.obj b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae7a5342cf89f512715d3fd90f2a62fa456f74eb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009.obj
@@ -0,0 +1,112400 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sponge_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009_collision.obj b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f0941625555a8e10a93c91df625df07870437b3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mesh/sponge_009_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009.obj b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009_collision.obj b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50cef919f7946a18d271ecd46160da87d8d35a4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009_collision.obj
@@ -0,0 +1,11773 @@
+# https://github.com/mikedh/trimesh
+
+o sponge_009_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009_collision_0.obj b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad7bfb533bd919aade49bfc9b3bd1c140d9e983
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009_collision_1.obj b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16058cd92e60f8e6aa3cb74f4723ef5b4d95cada
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/mesh/sponge_009_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/sponge_009.xml b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/sponge_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..379f9c593d310e8dc86a94c749ef6677c14051d1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/mjcf/sponge_009.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_009">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/sponge_009.urdf b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/sponge_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..17b406de2242e5dd3b77ab23b4e7a1fda63b6aed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/sponge_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_009">
+   <link name="sponge_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>fb677688833d532da0612a86d8b38919</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>heart-shaped sponge</name>
+         <color>red</color>
+         <shape>flat</shape>
+         <material>silicone</material>
+         <description>red heart-shaped sponge with smooth surface</description>
+         <min_height>0.0195</min_height>
+         <max_height>0.0195</max_height>
+         <real_height>0.0195</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230207</generate_time>
+         <gs_model>""</gs_model>
+         <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/fb677688833d532da0612a86d8b38919/sponge_009.usd b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/sponge_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e8b45d5ea3b75966016dee652598c525a7b4b713
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/sponge_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314efc0771f3ef5797891e3fb0cc3a7646d762570f0d5dbefd12c9483901fcb9
+size 4842864
diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/textures/material_0.png b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cf81010ece16f3e23645674b42536ffd2e93ede
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48c00513a4e295a5fc012b2532e4a0942b86d1db82edc9d14ae3dbd121bb6e83
+size 9440284
diff --git a/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/video.mp4 b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..887e3488f8d543c897dc0d05e3219e267bb6e286
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:482f0fb7078d0924eb1cc367ece669dc5fc9b5bfe48884e29edb7f7d9b2384f4
+size 117068