diff --git a/.gitattributes b/.gitattributes
index 624af378c769614dddba263d841bdd49f6261652..78b1ee6f0b044d7d07964dc35b3085b72e65fefa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5005,3 +5005,5 @@ dataset/livingroom_supplies/ornaments/b96f80ffb8015f7dac5ab8af198a71f0/mjcf/mesh
 dataset/livingroom_supplies/ornaments/b96f80ffb8015f7dac5ab8af198a71f0/watering_can_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c7a7c32554fa5b77a033341a30e39b14/mesh/watering_can_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c7a7c32554fa5b77a033341a30e39b14/watering_can_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/watering_can_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38826ef9106c9022a751cafb88ed1f75147e270e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl watering_can_027_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..34664426f05745382b4d6d0a690e0abba46744ac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/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/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027.glb b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027.glb
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027.glb
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027.mtl b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..747c95421aac57125aedf026e76c7824466299dd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027.mtl
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+newmtl watering_can_027_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b2697b94a477a9f14cbc2b55da7f7783d3f4fa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027_collision.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d52dde6cbe98beeef26805917edde07f698d45
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mesh/watering_can_027_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c83446ceb1497b96216a9be2b4fdddd660bebd86
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision.obj
@@ -0,0 +1,16333 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_0.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a478e19e5b705ae1e65fb516f28954b35ba822d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_1.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdbfb1f399adb1d5d431c1540814ed0e341f7142
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_10.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3387d45630ddf8790b20acd4d206b1f52a39d2a8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_10.obj
@@ -0,0 +1,817 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_11.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d6ab56a21dbd5514012e81314db0b90b7db118
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_11.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_12.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85e87dfe646e0ba7dafd202b021d9bd8ac95cb09
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_13.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218cd808b875f8b3219aab31c8e61c71256cb8b0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_13.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_14.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2440c5cfe99809c1fbd17cdf08005888509ed14
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_14.obj
@@ -0,0 +1,2569 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_15.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a08a0c353a8eba9d233083fb71d549c43fb9843
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_15.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_16.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dcbd4302b95d5241192efff1749520d066e40f6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_16.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_2.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c70cf51393360e4c6a57a1ccef8dfd2634c9b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_2.obj
@@ -0,0 +1,868 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_3.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc439a379b51d930334967e9739a4560fdc6490
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_4.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca017d7453807e486a351f27ce52c962054a047
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_5.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25e8780d431d3c682a0ca4e9cd31eca2cb0cfa93
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_6.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39f559b7d73fe3632c37a40f80dcccd6e9ecc481
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_7.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..504e0a6606335321ea0e6649d030c7538e0842fd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_7.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_8.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88b4fd20b419be6b2c4db6d429ef5a90dede95b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_8.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_9.obj b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4434103a4fbead478fe9f8b0bee933acde1867
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/mesh/watering_can_027_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/watering_can_027.xml b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/mjcf/watering_can_027.xml
new file mode 100644
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+<?xml version='1.0' encoding='utf-8'?>
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+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/watering_can_027.urdf b/dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/watering_can_027.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_027">
+   <link name="watering_can_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/watering_can_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>c8d1cb9dc57b59bfafada489453c7361</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>watering_can</category>
+         <name>pump watering can</name>
+         <color>purple</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>purple plastic pump watering can with long spout and loop handle</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518203409</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.056228 0.099986 0.135637</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
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+            <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>
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