diff --git a/.gitattributes b/.gitattributes
index b2c73b82e9bd9885ef21f19cd110003d5472ee0b..7042f35e627e3cc9744f7db71c0795f9012eedb5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5027,3 +5027,5 @@ dataset/livingroom_supplies/ornaments/d421bb4443645bc39bff8942d7525aa4/mesh/hous
 dataset/livingroom_supplies/ornaments/d9111479bbcd5d0b86062d40972404fe/d9111479bbcd5d0b86062d40972404fe.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/candle_holder_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/candle_holder_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/candle_holder_009.urdf b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/candle_holder_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..031e150ccab7602b06d29e871b9d923463e38417
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/candle_holder_009.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="candle_holder_009">
+   <link name="candle_holder_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/candle_holder_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/candle_holder_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <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>e1a20572faea54659b638dbee7a957bd</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>candle_holder</category>
+         <name>geometric candle holder</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>tall geometric candle holder with a wide circular top and square base</description>
+         <min_height>0.1800</min_height>
+         <max_height>0.1800</max_height>
+         <real_height>0.1800</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416203506</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/e1a20572faea54659b638dbee7a957bd/candle_holder_009.usd b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/candle_holder_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/candle_holder_009.usd
@@ -0,0 +1,3 @@
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+size 4913937
diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.glb b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2c05bbf34268eadca2567f482b59c2969930a381
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15883832
diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.mtl b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2c4ce432d812b77842a0215ab8e3fe209dc6f8d4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.mtl
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+newmtl candle_holder_009_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/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.obj b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60db8d1f2d4fcda5a9e58763c7681ed8803fe088
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_009_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009_collision.obj b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8befc80f0ca0175cb3d60501bf15da7f99818eea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009_collision.obj
@@ -0,0 +1,5345 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..81a1a06c0d945023b0a39d58fcdd8f91be73d98c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:741f5701637b1fc29daf23052f4bf1ff768989804ac2f40d73a494a90aef7bbb
+size 12544217
diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..931ba6ac7408c7a71ff07e5c09d2c73ccaa95524
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl candle_holder_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 candle_holder_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..81a1a06c0d945023b0a39d58fcdd8f91be73d98c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:741f5701637b1fc29daf23052f4bf1ff768989804ac2f40d73a494a90aef7bbb
+size 12544217
diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/candle_holder_009.xml b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/candle_holder_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af9a34fe0302d658d2d02402a550fbab3ba41657
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/candle_holder_009.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="candle_holder_009">
+  <asset>
+    <material name="material_0" texture="texture_0_candle_holder_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_candle_holder_009_geometry_Looks_material_0" type="2d" file="mesh/candle_holder_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/candle_holder_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/candle_holder_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/candle_holder_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/candle_holder_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/candle_holder_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/candle_holder_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/candle_holder_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="candle_holder_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" />
+      <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/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009.obj b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09cfe40237fa22485122998e087165e916e05d69
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009.obj
@@ -0,0 +1,109942 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_009_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision.obj b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5184d7417967a6b1b37f831194bd0bacd398d24b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision.obj
@@ -0,0 +1,5345 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_0.obj b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..408b657f93c75080f84748a8d4b3690e0208584d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_0.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_1.obj b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b11dfe1edb7bdc68af15d35b65fad22b7e2c36c2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_1.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_2.obj b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f57923c13a23818a8b1d4edfa13230b98a13d719
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_3.obj b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85bafac814683b0a3a576b93d26e12ffcc54fdfa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_4.obj b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa5eb259437cd316c6d3c772e5373b05700d74c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_5.obj b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2b8d9c82720358a9a37624dd30db514b8729504
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mjcf/mesh/candle_holder_009_collision_5.obj
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