diff --git a/.gitattributes b/.gitattributes
index f7a67a1fa256265a84f0b0a2fd7d6c328701f113..04f28b1548e0a6652313514f6e3c09a3ee9208f4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4960,7 +4960,5 @@ dataset/livingroom_supplies/ornaments/7db50e4b7b805d92aa356d4bf49aa1fc/candle_ho
 dataset/livingroom_supplies/ornaments/7db50e4b7b805d92aa356d4bf49aa1fc/mesh/candle_holder_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/848ba50856fc5fa6bffb74386d5d0593/848ba50856fc5fa6bffb74386d5d0593.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/8d0365b3bac45ca7b0a5c7b44958af1e.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/photo_frame_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/diffuser_bottle_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/diffuser_bottle_027.urdf b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/diffuser_bottle_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cb111f514ed3eaf2b5565b96a04edc3054cfae6e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/diffuser_bottle_027.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_027">
+   <link name="diffuser_bottle_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>885a57aa999d58a89d1f2b4931df4a94</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>glass diffuser bottle</name>
+         <color>transparent,black</color>
+         <shape>cuboid</shape>
+         <material>glass</material>
+         <description>rectangular transparent bottle with dark cylindrical cap</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.55</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518195412</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.016987 -0.021928 -0.056460</min>
+            <max>0.016977 0.021917 0.073540</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/885a57aa999d58a89d1f2b4931df4a94/diffuser_bottle_027.usd b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/diffuser_bottle_027.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3ae0295bb0db9740f9709e68aa09538d8b612f39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/diffuser_bottle_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a38dba2b0e58f0ecb5c69afdbf04704a072a1253736d7e7b07adb90fa57b3d63
+size 4391282
diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027.glb b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64db01be5aaeaf20e027f6529ca062af831a3967d28252bad16dd29d2dfeeda1
+size 12424344
diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027.mtl b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b857f3cdf8d8ba1addb1ce92e17655dc672900b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_027_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/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027.obj b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5427cb0bc4ac456dacf3f86d0db3230ae0c451b8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027.obj
@@ -0,0 +1,105570 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027_collision.obj b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ff9ef1c6d409258b5bd0eefd85b3f920c366c77
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bf21453745b73cc39b57091e76b43d739b8c4c2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/diffuser_bottle_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfc0b9e3ee84fa136f8a5a44d39729db6fed3a03c26e0269eca641b733b051f6
+size 9921529
diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..821cffbb7265dc4940bd830127dfdb859ef257ac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_027_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_027_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bf21453745b73cc39b57091e76b43d739b8c4c2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfc0b9e3ee84fa136f8a5a44d39729db6fed3a03c26e0269eca641b733b051f6
+size 9921529
diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/diffuser_bottle_027.xml b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/diffuser_bottle_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..10564e5f77daf03ee85eb2ae245d27a78fae0c70
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/diffuser_bottle_027.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_027">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_027_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_027_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_027_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_027">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027.obj b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85885e31257c05ae3b20afd4a12b2ff130fdc387
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027.obj
@@ -0,0 +1,105570 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_027_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027_collision.obj b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2d1ae01652cd8c66a6ef1c04dec218272d92daf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027_collision.obj
@@ -0,0 +1,4138 @@
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diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027_collision_0.obj b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1737fef714ec3b6fbf890bde1e393abf44d9a6ea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027_collision_1.obj b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b083797e779d68814508b84398a0b970864489c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/mjcf/mesh/diffuser_bottle_027_collision_1.obj
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