diff --git a/.gitattributes b/.gitattributes
index 0881ee3eca1b9fe5edc3df52308d1cec489b7c62..fd8414a53d96056d22396ea824aa1f08f21a7761 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4937,6 +4937,5 @@ dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh
 dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/diffuser_bottle_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/mesh/diffuser_bottle_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/4b83bcdb360750d187aebc24da8bb7e8/houseplant_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/4b83bcdb360750d187aebc24da8bb7e8/mesh/houseplant_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/588b1987ba6b5fd3b2bbe5dd816df14f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/diffuser_bottle_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/diffuser_bottle_017.urdf b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/diffuser_bottle_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae835681bd3e493ec0e623bf891b43410991d205
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/diffuser_bottle_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_017">
+   <link name="diffuser_bottle_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_017.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/diffuser_bottle_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <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>5166b362212e52feba589ecf2b5c4d12</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>square diffuser bottle</name>
+         <color>transparent,gray</color>
+         <shape>cuboid</shape>
+         <material>glass</material>
+         <description>square transparent glass diffuser bottle with dark cap</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.35</min_mass>
+         <max_mass>0.75</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518194835</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036442 -0.038514 -0.054674</min>
+            <max>0.036427 0.038511 0.075326</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/5166b362212e52feba589ecf2b5c4d12/diffuser_bottle_017.usd b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/diffuser_bottle_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..05382ad69f841acf04c6d3ac9a6f0310d76a4f1d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/diffuser_bottle_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2485fae230ceee53e42cde19c9bada8c78b7c85863477fa0458d7c7a17833a72
+size 4553636
diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.glb b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..86eef1cbbed013d5825c4264f6b9aba7f622e1b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c51967a6c6c00af5bdd86dd65cdeb918903f55387084e669824a52f53be748f
+size 13127740
diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.mtl b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86eeaf66642be32dea380a8ec9f4852a3a42be71
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_017_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/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.obj b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d034dce5dfd31aece714c0fd4a8bcd5c0c1dbe4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.obj
@@ -0,0 +1,104462 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_017_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017_collision.obj b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eab2b841b4c15fe00dae288410bc4ec143ca3d6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e63b4eced33203503b75567e4e789f2fc5ee68ae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:657bb72e9b018843da7ed3e0b504a2298017ab096b7f2e705539c624cb5e2511
+size 10363146
diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf05cab12040ff0821ca03607f05e52a54e75ca1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_017_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 diffuser_bottle_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e63b4eced33203503b75567e4e789f2fc5ee68ae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:657bb72e9b018843da7ed3e0b504a2298017ab096b7f2e705539c624cb5e2511
+size 10363146
diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/diffuser_bottle_017.xml b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/diffuser_bottle_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..87a968dd0130edf978855b8520b15745ac2f8396
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/diffuser_bottle_017.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_017">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_017_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_017_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_017_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/diffuser_bottle_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/diffuser_bottle_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/diffuser_bottle_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_017">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017.obj b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5face0f4a3b6d6b315022c41c92a044cfc062ba0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017.obj
@@ -0,0 +1,104462 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_017_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision.obj b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fca0fd86c5ce62b7d150edc028fa5f94ac7f3745
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision.obj
@@ -0,0 +1,5000 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_0.obj b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6043b93dcb1eff805c026822e80bb4a0bece1277
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_1.obj b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0c5615be960747402c85ee162ebfa5ceb9c4cf7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_2.obj b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f11ef8e5db00a72fb5e266b73f7439d98c5af28a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_3.obj b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bad766040ae3a334e2b20bd865d4ceb9313f1458
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_4.obj b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e10c3246179a148016990e2f69d52f231101ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_5.obj b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1922c542dddd75719cea8df8181918cb49896a49
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mjcf/mesh/diffuser_bottle_017_collision_5.obj
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