diff --git a/.gitattributes b/.gitattributes
index 249dc6f3e355addc5092a43fe7af1fc7c466800c..50543dd990cbb17f5a171a9e96a48549a0665d72 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5038,4 +5038,5 @@ dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/mesh/wate
 dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/mesh/watering_can_019.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/mjcf/mesh/watering_can_019.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/watering_can_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/e9d3a9a0bb4a5ab6b444c14898e1b5c0/e9d3a9a0bb4a5ab6b444c14898e1b5c0.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/diffuser_bottle_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/diffuser_bottle_021.urdf b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/diffuser_bottle_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d86aa955a776462c3a63071bde7ec7a0c99cc7a7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/diffuser_bottle_021.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_021">
+   <link name="diffuser_bottle_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>e57a399cb3335073a6fa0349b8880dc0</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>amber diffuser bottle</name>
+         <color>brown,black</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>amber cylindrical glass bottle with black ribbed cap</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518195110</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034099 -0.033554 -0.052969</min>
+            <max>0.033517 0.033545 0.077031</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/e57a399cb3335073a6fa0349b8880dc0/diffuser_bottle_021.usd b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/diffuser_bottle_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..34706e8d364a97cf61e21fe786c4c429f8f282b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/diffuser_bottle_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e745228471c91942468c9922034c8472d604707c1d6ffd3964681afc3f445d
+size 4847676
diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.glb b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..82e80abaf5bf416d980b4edaefa3e3fdd249865c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ec6e8473974ecb3a7ec3ae277eded2cab3bbab7666242f78e2cdea285af2568
+size 12254748
diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.mtl b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8fb4570404c164293dc3d96839c7b4733c0394c7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_021_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/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.obj b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea51338f7fd53f2458a072aab62e950b3cb737f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.obj
@@ -0,0 +1,106766 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_021_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021_collision.obj b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7212abf1898ab0281677878c237643c50b183ca7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021_collision.obj
@@ -0,0 +1,10401 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3821e3e5a4899136e19b4926c0b6cb8186ea398e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88190cf874fb4773ee2c2292c2fe56905259aa6eeb4a4cd7fc3e870ac5ad4f40
+size 9013855
diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d57dbcceccda3e9b15dcfe049704634ae486b0a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3821e3e5a4899136e19b4926c0b6cb8186ea398e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88190cf874fb4773ee2c2292c2fe56905259aa6eeb4a4cd7fc3e870ac5ad4f40
+size 9013855
diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/diffuser_bottle_021.xml b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/diffuser_bottle_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f708aff594774c2477a31792785703f932eeaa80
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/diffuser_bottle_021.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_021">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_021_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_021_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_021_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/diffuser_bottle_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_021">
+      <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/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021.obj b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a34105a51968ada03e77a65819a568bd300a2746
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021.obj
@@ -0,0 +1,106766 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_021_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision.obj b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7abcd07a48d01857aef7df6e80ce1447b28f0e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision.obj
@@ -0,0 +1,10401 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_0.obj b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d073256fecddee22d6cc3bd8008675e5432223c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_0.obj
@@ -0,0 +1,5944 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_1.obj b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff9dbad711aeac38adb6751bb73dec357e5103b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_2.obj b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc4c412469e06e40d956f8e5730fa5d6425f1ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_3.obj b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15818cbfd7947cab69d689ee4ef1e45017449270
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mjcf/mesh/diffuser_bottle_021_collision_3.obj
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