diff --git a/.gitattributes b/.gitattributes
index 41025886c1b14970fb913b754f7463d85809a5b8..9bc6f511e7348dd520a76016a87b99483fae08d2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4983,3 +4983,5 @@ dataset/livingroom_supplies/ornaments/94762781a7005c20b4df62dbdb2521aa/candle_ho
 dataset/livingroom_supplies/ornaments/94762781a7005c20b4df62dbdb2521aa/mesh/candle_holder_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/watering_can_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/diffuser_bottle_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/diffuser_bottle_005.urdf b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/diffuser_bottle_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c283fb2cd2c65de55c40f2d0b4ea9712909424ec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/diffuser_bottle_005.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_005">
+   <link name="diffuser_bottle_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>a2176960deee5fc8b0f9b4f46cd78b43</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>decorative bottle</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>glass, wood</material>
+         <description>white bottle with red text and wooden lid</description>
+         <min_height>0.1000</min_height>
+         <max_height>0.1000</max_height>
+         <real_height>0.1000</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416203645</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/a2176960deee5fc8b0f9b4f46cd78b43/diffuser_bottle_005.usd b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/diffuser_bottle_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..21f8c02456a367d21cc3f26062578711c3ce0428
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/diffuser_bottle_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff0f843e5091ce0b2f1f02456929897c34d983bd7dcf2049e531470c9af3af07
+size 4926210
diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.glb b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b692a9de5b0c15cd12997f1fdd642710c1db604a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c196114ffd048c379db952e7383351d1ab78dd3146dd48685fef2df964b8573
+size 14665824
diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.mtl b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4ec6322b70e51bd8fdcb23ff7ac63a8d24ed2506
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_005_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/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.obj b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a7cdfea45c61aeca391841b43a3b278cec61e91
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.obj
@@ -0,0 +1,111938 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_005_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005_collision.obj b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47c1b368bdb82bc5895a633fd35522c744b18a8a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005_collision.obj
@@ -0,0 +1,27354 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f38d503467f4e59df3b6c2eac3116dab38b4d748
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a2b4684217b6b49eab79bc4f59a5998c4f65ab84fba2d2f4a1d8be84259547
+size 11303978
diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cdf43572c3ab46859960cf83c3bb5598550add75
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f38d503467f4e59df3b6c2eac3116dab38b4d748
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a2b4684217b6b49eab79bc4f59a5998c4f65ab84fba2d2f4a1d8be84259547
+size 11303978
diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/diffuser_bottle_005.xml b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/diffuser_bottle_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..271762cc0e866e9b451884ef43c3b7c4572dbdfe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/diffuser_bottle_005.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_005">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_005_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/diffuser_bottle_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005.obj b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89939a1f555f6badd85ac5910e17625995069009
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005.obj
@@ -0,0 +1,111938 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision.obj b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126261c51e312916c193018b13159f592cfb393b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision.obj
@@ -0,0 +1,27354 @@
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diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_0.obj b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7d422841d046d4853b801729f5258240877f834
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_0.obj
@@ -0,0 +1,949 @@
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diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_1.obj b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493d01a6d8431cdd9b2ed7ba1ab0874d083e204b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_2.obj b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5813e30dffa52e109572de7066df3ba5c13e7ec1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_3.obj b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98eca381436e25bc8de15aa171335b38d4080ca4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mjcf/mesh/diffuser_bottle_005_collision_3.obj
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