diff --git a/.gitattributes b/.gitattributes
index 22649301054c7e4980240d345fa85aaaca0b074d..eafc97858d7c3fccf22e174421dd69f736ae038b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4995,3 +4995,5 @@ dataset/livingroom_supplies/ornaments/b5433fbc817a5a72a5176acd363f781a/mesh/hous
 dataset/livingroom_supplies/ornaments/b5433fbc817a5a72a5176acd363f781a/mjcf/mesh/houseplant_030.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/watering_can_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/watering_can_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf1d600103c75e2da80930c388a27bbe505de16b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl watering_can_005_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd watering_can_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..68a0cf44533537377b2619c2d16791574594e39a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.glb b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..62425f853c58ca969865fe700bc03d1c67010043
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14859960
diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.mtl b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5278f3c618b3f8d72adc785e0def5d102b8e1d7d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.mtl
@@ -0,0 +1,6 @@
+newmtl watering_can_005_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/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87dab7a44a0d45f56bfdd48a1f6a79711956f188
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.obj
@@ -0,0 +1,112694 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl watering_can_005_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005_collision.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f28fc50f1ba588c932c81db5e85fb2389a76ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005_collision.obj
@@ -0,0 +1,10677 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d011763829c309f1482165ff2482cd2dbbc3af90
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision.obj
@@ -0,0 +1,10677 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_0.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde5c4ff41236e369be423592e625729c50a44f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_1.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304862db7f98525cc5bb7d17f1163046c7349162
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_10.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40671a1ee857e3784533955eba5e65c263b4a19c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_10.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_11.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48e3c278ae78d1091c2fa270db1987d1edee7796
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_11.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_12.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60c02a9685618de93a01693d3c2be35442e22ccd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_12.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_2.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e7be20cac68a544245a18e2d943dd236bdc45c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_2.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_3.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54777416dcadcae1de5b3e990105051717fc1405
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_4.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd1e6790ff4be987f837da4e3b89cfde9e3ac73
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_4.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_5.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf9a406335e0530848897ea07852f9bf4fea3cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_5.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_6.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb08bad5de80efb785a5ebac3b6aa8f6cc538c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_6.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_7.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa35aa6db191cc2b43a5ee1cc91c25a7231dbe81
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_7.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_8.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e746281e84fbd73b3f3d89bcd67f2ea4bb775fa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_8.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_9.obj b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..736f8603f946e2005a7f6403c6aeefc57249584e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/mesh/watering_can_005_collision_9.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/watering_can_005.xml b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/watering_can_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af3bae04e05494a7cca11461305ac17e984ea2df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mjcf/watering_can_005.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="watering_can_005">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/watering_can_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/watering_can_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/watering_can_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_6" file="mesh/watering_can_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/textures/material_0.png b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/textures/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/video.mp4 b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/video.mp4
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/watering_can_005.urdf b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/watering_can_005.urdf
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+++ b/dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/watering_can_005.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_005">
+   <link name="watering_can_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/watering_can_005.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/watering_can_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
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+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>
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+         <uuid>b83504e31bcc5479934ee18a6fd13ae1</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>watering_can</category>
+         <name>green spray bottle</name>
+         <color>green</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>green spray bottle with white nozzle and ergonomic trigger</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414160918</generate_time>
+         <gs_model>""</gs_model>
+      </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>
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