diff --git a/.gitattributes b/.gitattributes
index 078e42853753002cbab2cd03228ac91857d5afe9..7b792f0aa9319861b247c14b53885854b01e52a1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4943,3 +4943,5 @@ dataset/livingroom_supplies/ornaments/59a82f9d9134500c8756d472693ea1e0/59a82f9d9
 dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/candle_holder_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/diffuser_bottle_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/diffuser_bottle_022.urdf b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/diffuser_bottle_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c976a47f1d60d3c28df4192b9e0764f20a17491c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/diffuser_bottle_022.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_022">
+   <link name="diffuser_bottle_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_022.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_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>64eae5a4997a5b9e9cf6a8329fa65dca</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>gray diffuser bottle</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>ceramic</material>
+         <description>rounded gray bottle with narrow neck and small stopper</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518195130</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.043734 -0.043737 -0.045581</min>
+            <max>0.043712 0.043771 0.084419</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/64eae5a4997a5b9e9cf6a8329fa65dca/diffuser_bottle_022.usd b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/diffuser_bottle_022.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ee1af55c06ac6f3832fed51761875ca35e1d9e24
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/diffuser_bottle_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0789dd2807a71863a056297e5bf8ba4e93a5501ef783fe1378fd0a145515a267
+size 4917376
diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.glb b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5812dd0c46933876c80a39593dea846f31c1d25f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77e3799b209272fb23dea3c2793c0e4457f922b2068ec467e4cb6ed40c525749
+size 10975316
diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.mtl b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e7bc03becae1126c085492e31982302bb20bde5e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_022_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/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.obj b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a802cb14a729054ce109cc513fe832eb6744539f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.obj
@@ -0,0 +1,105172 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_022_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022_collision.obj b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc3805feae4bf64a3a5334914b7c3a39ef41a627
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..770df3685c86ee0a9a7b0904728c78cc7842f9ad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3832ca96c4b53fe91dcde8ef4cade730881a731bb5206ba221cdf4c7ad12848d
+size 7615158
diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5313b34d02ef12b11c43c6bf9aeccecfba4412fd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..770df3685c86ee0a9a7b0904728c78cc7842f9ad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3832ca96c4b53fe91dcde8ef4cade730881a731bb5206ba221cdf4c7ad12848d
+size 7615158
diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/diffuser_bottle_022.xml b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/diffuser_bottle_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5fcf79c6d6549ba0eec2f2b565ed0793055e4983
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/diffuser_bottle_022.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_022">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_022_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_022_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_022_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/diffuser_bottle_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_022">
+      <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/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022.obj b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..181225613e263ac9f42b9cbf4871401986b5ab32
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022.obj
@@ -0,0 +1,105172 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_022_geometry_Looks_material_0
+v 0.001057 -0.043705 0.002893
+v 0.001057 -0.043705 0.002893
+v 0.001517 -0.043649 0.004520
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diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision.obj b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..306841af3d892711b9a206683c56475d6925db43
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision.obj
@@ -0,0 +1,25296 @@
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diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_0.obj b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46bc1163e25087c029d4a9e239dfa103b2b32780
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_1.obj b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2cbee757029fa3c34979e5ec9793585b11ee70f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_1.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_2.obj b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee99ca8cbc4f8c23873ae9bb1fc154f9806a6571
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_2.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_3.obj b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a678da4dfd83f6ee0c0053554c0abcb4d99e56d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mjcf/mesh/diffuser_bottle_022_collision_3.obj
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