diff --git a/.gitattributes b/.gitattributes
index 50543dd990cbb17f5a171a9e96a48549a0665d72..523c938f20991821b9ce03cde3967840976f8d32 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5038,5 +5038,4 @@ dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/mesh/wate
 dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/mesh/watering_can_019.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/mjcf/mesh/watering_can_019.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/watering_can_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/diffuser_bottle_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/mesh/diffuser_bottle_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/ece678ff63435a40afef2433b6ff1734.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/ece678ff63435a40afef2433b6ff1734.urdf b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/ece678ff63435a40afef2433b6ff1734.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..faf5f1773ed76cdabf91162b6b08f35da7fb92c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/ece678ff63435a40afef2433b6ff1734.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_0">
+   <link name="vase_0">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/vase_0.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/vase_0_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.300000</scale>
+         <version>v0.1.5</version>
+         <category>vase</category>
+         <description>smooth ceramic vase with narrow neck and rounded base</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20251016170815</generate_time>
+         <gs_model>mesh/vase_0_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.1378936767578125</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/ece678ff63435a40afef2433b6ff1734.usd b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/ece678ff63435a40afef2433b6ff1734.usd
new file mode 100644
index 0000000000000000000000000000000000000000..28751d7f235a67a70b10f0ab1f5fed51a9d0a0b0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/ece678ff63435a40afef2433b6ff1734.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:841e787f63c8cf9c947c20ea8ab9ece6ac7d3e036ee7e536a1ddd951d14f5be4
+size 466575
diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4feb5368362473628422b3f27e35d529c6e221bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b1827078206d40d5be4e996999af8cf3359a3b07fb62a7271bb0a40e5755ef9
+size 356785
diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0.glb b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4a9dfaf8fbf0eaf9fbd7185a2da4d5dcbb325053
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ae9ce79792e6fc12a62dc177f1177b987fa4a4156744df12de809eef44459f3
+size 667728
diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0.obj b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65f7338d6c83b5b7396c6830207b180cf4226c21
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0.obj
@@ -0,0 +1,28290 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0_collision.obj b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a061f4b32a8ba040f8ea97d010e752603176103b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0_collision.obj
@@ -0,0 +1,7076 @@
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diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0_gs.ply b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..28cb053d4279becf5325acf7ef369c9d6319d7ee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mesh/vase_0_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d965eb972112125c26862814f76e1c1db9fd3dc4db06bcf638fef860877a5b4
+size 14133866
diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/ece678ff63435a40afef2433b6ff1734.xml b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/ece678ff63435a40afef2433b6ff1734.xml
new file mode 100644
index 0000000000000000000000000000000000000000..39c088a382e25a75c4328f1a09a26e6736f46b27
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/ece678ff63435a40afef2433b6ff1734.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="vase_0">
+  <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/vase_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/vase_0_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/vase_0_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/vase_0_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/vase_0_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/vase_0_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/vase_0_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="vase_0">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" 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/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4feb5368362473628422b3f27e35d529c6e221bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5b1827078206d40d5be4e996999af8cf3359a3b07fb62a7271bb0a40e5755ef9
+size 356785
diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0.obj b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..842ffedd0f32c3d508e5481c044c516826e13948
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision.obj b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb3b4df6dac921e12ea37c464bc31f4ef1da5369
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision.obj
@@ -0,0 +1,7076 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_0.obj b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5dad4ba5781c584f50b6468d249a9ad3f208425
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_1.obj b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304e75438957c06df0ea9d8d22d004e7872554dd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_2.obj b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56fbcc7689ad8fcc8fc06e1b12e00e088761f264
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_2.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_3.obj b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0243a34700367450843faf8e5eee3b496db06e61
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_3.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_4.obj b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea02f26acc03615c7668be227fd368315c9b440c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/mjcf/mesh/vase_0_collision_4.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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