diff --git a/.gitattributes b/.gitattributes
index 90e141c86c039420fdfe4d3368b36e1f57cce94a..830b183578ef5322064660d4a5daaf198d76fa0b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4983,13 +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/a0ebba1917ef5b12a120b015e36fb8a2/candle_holder_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/a0ebba1917ef5b12a120b015e36fb8a2/mesh/candle_holder_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/a0ebba1917ef5b12a120b015e36fb8a2/mesh/candle_holder_017.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/a0ebba1917ef5b12a120b015e36fb8a2/mjcf/mesh/candle_holder_017.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/candle_holder_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/mesh/candle_holder_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/mesh/candle_holder_018.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/mjcf/mesh/candle_holder_018.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/houseplant_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/diffuser_bottle_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/diffuser_bottle_023.urdf b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/diffuser_bottle_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a96bed2538c539ced55f07ba2ce6d49f80bce364
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/diffuser_bottle_023.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_023">
+   <link name="diffuser_bottle_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8000" />
+         <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>aadf0f73052c5f418d5fa78be58379cc</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>glass diffuser bottle</name>
+         <color>transparent</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>transparent faceted glass diffuser bottle with stopper</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518195220</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022060 -0.026193 -0.055536</min>
+            <max>0.021567 0.026182 0.074464</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/aadf0f73052c5f418d5fa78be58379cc/diffuser_bottle_023.usd b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/diffuser_bottle_023.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/diffuser_bottle_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7390c27ed71389b6299d04c5058e51ab69df44ffdf1d8d7890c8cbf8b3a74d7
+size 4853400
diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023.glb b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..077597947f306e9a0bf23919a8d6ad491f8cd4d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf38c90eab8dc88a884ec11df5c0a9c6ede1288f75550eec1edc153fd814a373
+size 14750068
diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023.mtl b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..68dc52d080cc9046b83fadae06e6939f9cda18ee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_023_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/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023.obj b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb650ca5598503c85c8a9f9661a7f81cbd1c1497
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023.obj
@@ -0,0 +1,107628 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_023_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023_collision.obj b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9448e5c8721eba4feeea3d8552f7f49dbf6f9d1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c37828c8791692da55f8fcd3e0e5b696a5b3ec0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/diffuser_bottle_023_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d3fe973ec03ec97e4754d53bd65e5fc872740e3f846de42c1e72435dccfe18
+size 11498087
diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..90d53731da2bd5c62af390fbcdf138bcf8f449c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_023_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_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c37828c8791692da55f8fcd3e0e5b696a5b3ec0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d3fe973ec03ec97e4754d53bd65e5fc872740e3f846de42c1e72435dccfe18
+size 11498087
diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/diffuser_bottle_023.xml b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/diffuser_bottle_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7f4709f54b26dd48508c3b6904482233d1a58e47
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/diffuser_bottle_023.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_023">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_023_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_023_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_023_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/diffuser_bottle_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_023">
+      <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/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023.obj b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6e744afe67c0a835687cafb84b441bfd877417
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023.obj
@@ -0,0 +1,107628 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_023_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision.obj b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa770cad85ac0d2a3bcba2f29c2cd3b0cc0f2475
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision.obj
@@ -0,0 +1,3264 @@
+# https://github.com/mikedh/trimesh
+
+o diffuser_bottle_023_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_0.obj b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..976d898ba692b8884e05f5ad555a37cd93708ea3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_1.obj b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7aee864579d33098cf203d40488f43beb502b0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_1.obj
@@ -0,0 +1,1039 @@
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diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_2.obj b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b86ef05edf7a81c18869d16c02a093bdc6cd1f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_3.obj b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aff9750bd6c38efee828987b8ed063b0a381fc8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/mjcf/mesh/diffuser_bottle_023_collision_3.obj
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