diff --git a/.gitattributes b/.gitattributes
index e2bdc0de84e85781f89a19af32e92cf32a71ee7e..7b03bd77c0aec294eb0496d2ddfa2b216de6c743 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4952,7 +4952,5 @@ dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/candle_ho
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 dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/candle_holder_022.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/780767d373a153589d65c9ba262cb39e/houseplant_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/780767d373a153589d65c9ba262cb39e/mesh/houseplant_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/photo_frame_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/watering_can_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..699e6b821a183dc5183cfee1d26c013191ada946
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl watering_can_028_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028.glb b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028.mtl b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aab1e87800efd308f18b1dedd0e48e1bba56db2f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028.mtl
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+newmtl watering_can_028_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d797f4ac388d7517fae72030483f86b4c2f1cf7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028.obj
@@ -0,0 +1,108804 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl watering_can_028_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028_collision.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a97eb6524099126dad5f40ffef797248bb7c4224
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mesh/watering_can_028_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/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/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/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl watering_can_028_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..132c1f76985f31e142f722c03d145d40b97207a9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision.obj
@@ -0,0 +1,24341 @@
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_0.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1724e8c3926a9cc16c0468acfba5753f5565d74
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_1.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd4251bbcb8662d1eda1f59c749cee0474b86d6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_10.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23492700d649fedf7bda7a7265bb7186e8b60a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_10.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_11.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf27fce308ab5c01eaabcb5da9b91b2a27ce8f6e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_11.obj
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_12.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14d238b66139f89890be300dee27376bdb001bbf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_12.obj
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_13.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522d508f09a5dde666e80203980527bd691234cb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_13.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_14.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..528a7ff7d99f93f3cce1d64aa983755ba84302e6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_14.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_15.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6b13450090026083ea032954dd70636cbf2d858
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_15.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_16.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c04a2b58f071d358dbf6f8cca362a3a55437815
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_16.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_17.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a54d9c261928ae1f7f64972fb399de67074de67
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_17.obj
@@ -0,0 +1,1156 @@
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_2.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6038af8c4da7c92750690079be0e3d0f842b15b6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_3.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab9dc540d4fa966091b5c40ab67e0c6314e0a4fc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_4.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fe0b311c82830b7de3dd06e91d935c999e209d0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_4.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_5.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79790bab5b5d588a384df6b5b43dfcfec71144c4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_5.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_6.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ec32a99bc7d71093f73c01b6acd6087e01ef7e8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_6.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_7.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62bc0808bd90294c8d518ef0571b521e04e37d07
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_7.obj
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_8.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac9ef222a504631c7f87548a765bf400799e8ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_8.obj
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diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_9.obj b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce785e60258eaea9e316969d9c59ed3f35b6c539
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/mjcf/mesh/watering_can_028_collision_9.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..6cf80f1b75a0dc3e61648181ee2e029b30348d1a
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5fdab1be2e78f1f9beb841496184765fafb4c9889b6100a21f1f775e0f63ef8a
+size 201680
diff --git a/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/watering_can_028.urdf b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/watering_can_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0609cce8300417e18ee1654226a52594459768de
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/watering_can_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_028">
+   <link name="watering_can_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/watering_can_028.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/watering_can_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>738d3d4b211d54a9a5ccf1b7dcbf1448</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>watering_can</category>
+         <name>pump watering can</name>
+         <color>blue,white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>dark blue plastic watering can with pump top, side handle, and angled spout</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518203443</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.055327 -0.099267 -0.070392</min>
+            <max>0.055171 0.085549 0.129608</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/watering_can_028.usd b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/watering_can_028.usd
new file mode 100644
index 0000000000000000000000000000000000000000..08d77fcc7626b187ae345315d2248b0cc9f8e3b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/738d3d4b211d54a9a5ccf1b7dcbf1448/watering_can_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a05ab290dff967b8bbc8a632eec3efc927c83256362a7724326b14e9fdd50b84
+size 4973729