diff --git a/.gitattributes b/.gitattributes
index ae0dedbbdbdf84afd3a259a8145068cd5022e8fa..8b2450dd20eb08f1661eee839879494c7d427ce2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4902,3 +4902,5 @@ dataset/livingroom_supplies/ornaments/1518b3ed231258ee9dc8992fa9c40740/photo_fra
 dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/21b1b6edb55f501580fb0ffc53beabda.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/mesh/watering_can_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/watering_can_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/diffuser_bottle_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/diffuser_bottle_029.urdf b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/diffuser_bottle_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7eede73bb54323ca17fca96c8fe0413be09ae26e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/diffuser_bottle_029.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_029">
+   <link name="diffuser_bottle_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>262fcedf3b0f556a9cc690a4f5615b02</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>red diffuser bottle</name>
+         <color>red</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>tall red glass diffuser bottle with ornate neck and round 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>20260518195454</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021834 -0.021808 -0.056668</min>
+            <max>0.021776 0.021673 0.073332</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/262fcedf3b0f556a9cc690a4f5615b02/diffuser_bottle_029.usd b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/diffuser_bottle_029.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6098496e39c76c226f890ab460ae407ee76d9216
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/diffuser_bottle_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e310aef68ebcc150326797bc8bc215c56286b59e271ab2c6ddb8206971e9b094
+size 4874636
diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.glb b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fbbda38872276df8d8cc9f09fce7f72c6d0b2e3d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45e138c7637c2184ec25ab9577ec0dd75a3091dd725b6c5dd20d4bb56a882f43
+size 13904472
diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.mtl b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..39ea9525ac233df3247739c856e0dc8b7e9276ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_029_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/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.obj b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e5e6cf6859d47976c20dc6eed06bdead477987
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.obj
@@ -0,0 +1,107696 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_029_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029_collision.obj b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab3f352443ed64c227e3aa41789caafe0b920a9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029_collision.obj
@@ -0,0 +1,4409 @@
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diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5496584010f62da7cedbc5e2e5ade9994318036f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd128c73977ea6312f292cbfd5d6e4476c6302e90b944da6eddf1857b1561bc
+size 10615654
diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5d9ed30b39d59f991bd0cb0546080f1231117876
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5496584010f62da7cedbc5e2e5ade9994318036f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd128c73977ea6312f292cbfd5d6e4476c6302e90b944da6eddf1857b1561bc
+size 10615654
diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/diffuser_bottle_029.xml b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/diffuser_bottle_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9d2ccb7104fc995aa81291c55136c995f105ae72
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/diffuser_bottle_029.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_029">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_029_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_029_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_029_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_029">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029.obj b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8a3600220c878ba164e493ffc8a41540694697
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029.obj
@@ -0,0 +1,107696 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_029_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision.obj b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cafc6c2fcd90d7ffb79bb60cfaf0dcf491fa6c07
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision_0.obj b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..777d6fffd9a6ef5017785aae9bf0480f7cc153b1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision_0.obj
@@ -0,0 +1,2455 @@
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diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision_1.obj b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57fd8874da307552c8c4299a524c226d57f76db8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision_2.obj b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac4c3af345a8338c35005656b1a4a6961846d7c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mjcf/mesh/diffuser_bottle_029_collision_2.obj
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