diff --git a/.gitattributes b/.gitattributes
index 629e1672afdcbb9af7c7ea69823fd54707707468..12692cb2aaf986fccdbc1dffc5059f2af1a459e1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4928,3 +4928,5 @@ dataset/livingroom_supplies/ornaments/438c0b2fae2d5f1bb6a2815d126f2c06/438c0b2fa
 dataset/livingroom_supplies/ornaments/47aea598c1be5400b43f19fd645414d8/47aea598c1be5400b43f19fd645414d8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/3da57056136c57ecac42b6b1380efd84/houseplant_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/3da57056136c57ecac42b6b1380efd84/mesh/houseplant_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/diffuser_bottle_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/diffuser_bottle_030.urdf b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/diffuser_bottle_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..81ca6b358cbe0b4f1a0be6c96463e125d82f7ecd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/diffuser_bottle_030.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_030">
+   <link name="diffuser_bottle_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <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>4144e5dd277458f9b52033c656af13da</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>blue diffuser bottle</name>
+         <color>blue,golden</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>dark blue glass diffuser bottle with ornate golden cap</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.35</min_mass>
+         <max_mass>0.75</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518195514</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030336 -0.031023 -0.057525</min>
+            <max>0.030313 0.030850 0.072475</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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/4144e5dd277458f9b52033c656af13da/diffuser_bottle_030.usd b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/diffuser_bottle_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..269b5124eb664f414a6571af7d6bb6be135bf3fe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/diffuser_bottle_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94279f1301850af9865aa06d9e716064f4ce3da5115e66637b23a6826d689b90
+size 4708069
diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030.glb b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c92733181d989facedff34fd707dfd70ee6dcc0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2030287cdf51000e58690f25738781fe7cd82d8bdb1b7780de60a36389e1d87
+size 13780080
diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030.mtl b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..634d6f636f1dca388e44cf292a8279ab1ac3b8c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_030_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/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030.obj b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82f20d2e1e1c984db6e2e93504cce49637ed8601
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030.obj
@@ -0,0 +1,116736 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_030_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030_collision.obj b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f240bbaf455357d0756970afcbd9519a52e567c7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030_collision.obj
@@ -0,0 +1,9669 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..49869d901f51358224c4552683c2f819dacc390a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/diffuser_bottle_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb1031a23bf5ae1bce5191b63ee6dcd1957cdaaad6622528b2ef5c80574e0b96
+size 10774948
diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d96dba9885e99d55fdfadd222bd0bc5ba043504a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..49869d901f51358224c4552683c2f819dacc390a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb1031a23bf5ae1bce5191b63ee6dcd1957cdaaad6622528b2ef5c80574e0b96
+size 10774948
diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/diffuser_bottle_030.xml b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/diffuser_bottle_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..43e83cc32c513a8a13d0c84fa014d58fe700768b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/diffuser_bottle_030.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_030">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_030_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_030_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_030_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/diffuser_bottle_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_030">
+      <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/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030.obj b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae68689cfb352a17e8e420079938badb6bee1ee1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030.obj
@@ -0,0 +1,116736 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_030_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision.obj b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df190cecb454f399157a60b626a586a50ed3e828
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision.obj
@@ -0,0 +1,9669 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_0.obj b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d89fa6bf4f5f0ae70ea668a5e994f0e9322bf43
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_0.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_1.obj b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..813432bceee800d12b021594267194bb659fd70e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_1.obj
@@ -0,0 +1,763 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_2.obj b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..416f3fafbb256c488c2a30f8f7416d41d2b1e06a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_3.obj b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..998b39ff52fa1623b74aa15081884bed41c2bb28
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/mjcf/mesh/diffuser_bottle_030_collision_3.obj
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