diff --git a/.gitattributes b/.gitattributes
index 74298df42ef8c7cecda6d90ec4af0bbcc6ed5ee8..22649301054c7e4980240d345fa85aaaca0b074d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4993,3 +4993,5 @@ dataset/livingroom_supplies/ornaments/b5433fbc817a5a72a5176acd363f781a/houseplan
 dataset/livingroom_supplies/ornaments/b5433fbc817a5a72a5176acd363f781a/mesh/houseplant_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b5433fbc817a5a72a5176acd363f781a/mesh/houseplant_030.obj filter=lfs diff=lfs merge=lfs -text
 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
diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e849dda9f7d0a12eff78c9f57867018b2acb7bd0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl watering_can_021_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/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/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021.glb b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f6194ff5510981de3943c09f28a008a798bd1ab6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021.glb
@@ -0,0 +1,3 @@
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+size 12156512
diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021.mtl b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e7e08b5b379b804496d46cf9bd312f112d05ce32
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021.mtl
@@ -0,0 +1,6 @@
+newmtl watering_can_021_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..463a2f079186545265d370ef8e01079f12688738
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021.obj
@@ -0,0 +1,108220 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021_collision.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dba5e7597f33a534a7414e4eef08078c56e8c796
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/watering_can_021_collision.obj
@@ -0,0 +1,19915 @@
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+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021.obj
@@ -0,0 +1,108220 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a37d5d013d8a559f3676b9158a1032ccd88a2fcd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision.obj
@@ -0,0 +1,19915 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_0.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9a9c4759c71623bf0c9460ad0477d4b21956bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_1.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cafe3d78221a49aa0b501c4fb7c299e9056a6fba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_10.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cffac683c6c00d8e43976910fe2ebcb82e624f5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_10.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_2.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c7685dedb3716682cf870258d02acc1a050d1c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_2.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_3.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0470c55d2adc02b3d96c4e24baee2b289123ba9c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_3.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_4.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe3257f3581592b7c1fa49a86714910f8b6969a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_4.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_5.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..698f67ebac04132a7d4c6cf35e89ff6fc60a590b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_5.obj
@@ -0,0 +1,859 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_6.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d316471cffb5f58e529ba649a14ea167b47bb61d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_6.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_7.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7de748d9255a34f4d6d6776f775addff0b97b2b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_7.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_8.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091ff3d77e94a42649e7ab71e083792ba905f17d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_8.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_9.obj b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/mesh/watering_can_021_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/watering_can_021.xml b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/watering_can_021.xml
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index 0000000000000000000000000000000000000000..ee49aa984f4efd170c9519698ba729c0920f9edd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mjcf/watering_can_021.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/textures/material_0.png b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/textures/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/video.mp4 b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/video.mp4
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ac10c4e84856dd4d20ea8e7011efe2c2fc07f354af74ef372d58b7fecc29417a
+size 172966
diff --git a/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/watering_can_021.urdf b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/watering_can_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ac8070d0d96ac9ba9c570a1f1b5a37b757c994a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/watering_can_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_021">
+   <link name="watering_can_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/watering_can_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>b9103a185b8d52e5adf791614f1a2981</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>watering_can</category>
+         <name>spray bottle</name>
+         <color>blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>teal plastic trigger spray bottle with oval reservoir</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518203158</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.053883 -0.061530 -0.061946</min>
+            <max>0.053884 0.054500 0.138054</max>
+         </aabb>
+         <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/b9103a185b8d52e5adf791614f1a2981/watering_can_021.usd b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/watering_can_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5788c2b1d5e57bed791d42d6313bdf7583a521f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/watering_can_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a9edf2a9632fade90788d3160fddafa0c6eea64e15a8caa85f666666ce449b
+size 4968409