diff --git a/.gitattributes b/.gitattributes
index 4e1570c3efe70f860b63c12cfa7d3d710521f67d..272ca38ffbc58555b7431f659bb049b7a380a5e9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5047,3 +5047,5 @@ dataset/livingroom_supplies/ornaments/f4c2a3a8c660559cb91261078021ccde/f4c2a3a8c
 dataset/livingroom_supplies/ornaments/f91937664fb955419eed10733c346cce/f91937664fb955419eed10733c346cce.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/005797d3c881537488c0026d182a35fc/005797d3c881537488c0026d182a35fc.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/fed45942bdf454279432a7ebd5ccb0d1.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/candle_holder_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/candle_holder_001.urdf b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/candle_holder_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..037682ba2aecd21d7d5349bfb632a5740ada16ad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/candle_holder_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="candle_holder_001">
+   <link name="candle_holder_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/candle_holder_001.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/candle_holder_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>fdfb8a67bb915c8ebef9f87f3b9238af</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>candle_holder</category>
+         <name>wooden candle holder</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>elegant wooden candle holder with a twisted design</description>
+         <min_height>0.2286</min_height>
+         <max_height>0.2286</max_height>
+         <real_height>0.2286</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414154647</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/fdfb8a67bb915c8ebef9f87f3b9238af/candle_holder_001.usd b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/candle_holder_001.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/candle_holder_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee0cebcea84fea7c03888a7bd76daca845cc3fbe40be8d8736d9f17b28438192
+size 5002091
diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001.glb b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5dfb7d6da44c855b2fb1fe4835cca4c9b79fe064
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a862a6557f03e4c728272ca070e86d3ff9b0811a08a0ab3e8d5004175e0623ba
+size 12592216
diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001.mtl b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d2841eb412999d4dea6e7e87a89a80a52fc6996
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001.mtl
@@ -0,0 +1,6 @@
+newmtl candle_holder_001_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/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbfc4e64d0e9e29153216df0a7acc3f898403bc8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_001_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001_collision.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a3c5ac6e3ffb03a79b143d22ac480ab6179a1bd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001_collision.obj
@@ -0,0 +1,6604 @@
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdf176f5d3bdcd6c638004fa1dccb75c16b2a7ec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/candle_holder_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb7c6bcda40c680b217eccdf68dad31a2674c38ca4ea6433f5b52bc6d693c3ba
+size 9095427
diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4288a993b448aa0d1fccb6f42692bc9a5c96eff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl candle_holder_001_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 candle_holder_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdf176f5d3bdcd6c638004fa1dccb75c16b2a7ec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb7c6bcda40c680b217eccdf68dad31a2674c38ca4ea6433f5b52bc6d693c3ba
+size 9095427
diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/candle_holder_001.xml b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/candle_holder_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6792cf2de268ccedb4bbfd5a6f6b5b8524a3493e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/candle_holder_001.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="candle_holder_001">
+  <asset>
+    <material name="material_0" texture="texture_0_candle_holder_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_candle_holder_001_geometry_Looks_material_0" type="2d" file="mesh/candle_holder_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/candle_holder_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/candle_holder_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/candle_holder_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/candle_holder_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/candle_holder_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/candle_holder_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/candle_holder_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/candle_holder_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/candle_holder_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="candle_holder_001">
+      <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/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f46f52889511679c329790881ca72109fd04ae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001.obj
@@ -0,0 +1,109100 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_001_geometry_Looks_material_0
+v 0.032213 -0.006727 0.043916
+v 0.032213 -0.006727 0.043916
+v 0.032213 -0.006727 0.043916
+v 0.032458 -0.005470 0.044174
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+v 0.032319 -0.006445 0.044478
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+v 0.014462 -0.032654 -0.088254
+v 0.012361 -0.033367 -0.088076
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+v 0.016538 -0.030915 -0.087696
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9922b271bc1e60a45d3d6f59c9dcc6599d651fc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision.obj
@@ -0,0 +1,6604 @@
+# https://github.com/mikedh/trimesh
+
+o candle_holder_001_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_0.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3314956263c99025315ce3d7aed7418b6cd564c3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_1.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46845a4cf053d5959acf49303942782ded2fa16c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_1.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_2.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d7fcee4cfd187fd8ec8ca3cef31e42e648c145e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_2.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_3.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bf287cd1b4c88eeeb78be2d4911126e3cdcc580
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_4.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3a459f274e9b5c9d28c9dceaaea0f208754d07f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_5.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a4b8e12074f31a5642cd03cd746972dc93cf70b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_6.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ccbc7cdb65292f4acacb61d34c494d0df491c4c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_7.obj b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f587dd68872db11758ee785e10396812fa67b4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/mjcf/mesh/candle_holder_001_collision_7.obj
@@ -0,0 +1,805 @@
+# https://github.com/mikedh/trimesh
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