diff --git a/.gitattributes b/.gitattributes
index 3195c770ea2d0bbef15f5a37267abfec0444c19c..f9539dab017abf958596578151e140214cbf7f47 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4884,5 +4884,5 @@ dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup_gs.p
 dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/photo_frame_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/04de8729d6d6562f9291789ac01d222b/04de8729d6d6562f9291789ac01d222b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/0ac08a53f94c5e98a41b1b9aecb9d817/mesh/watering_can_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/0ac08a53f94c5e98a41b1b9aecb9d817/watering_can_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/watering_can_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1a22bc215bebfccf59d971818d69f5163444b58
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl watering_can_004_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd watering_can_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf5412a4316306b4e878ca018cdf3f4a7c22eaac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/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/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004.glb b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4fcad6b19435f8d463a7d676a1cd79fe7e7e32dc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11830864
diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004.mtl b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f77d5c7daa938516d7a81d69710b631c6fa605fa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004.mtl
@@ -0,0 +1,6 @@
+newmtl watering_can_004_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b07836f24c0ceb9ae23e6b258df078abcbdc9d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004.obj
@@ -0,0 +1,107882 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl watering_can_004_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004_collision.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9a04875263716a33f5b5e46463877e6a35c0ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mesh/watering_can_004_collision.obj
@@ -0,0 +1,12701 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004.obj
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a4f00e1cd0aede18fb16395d5bb0d47ce56a8be
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision.obj
@@ -0,0 +1,12701 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_0.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46b0357912e30adeba5156d1d5c16ea475b0078
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_0.obj
@@ -0,0 +1,8536 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_1.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9f20b883dd557ff3d4409198ca80b5c3829e49d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_1.obj
@@ -0,0 +1,871 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_10.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73de96ecde45f92c3dacf4d983c149b70835c28a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_10.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_11.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..756c82ae3aca284cb3eaa0b63e0c8da2c7aa15e2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_11.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_2.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba9fbe18e5b52c73b17e482461b9adb0abff795a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_2.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_3.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64aad0645dc16774bceb6840c904b1e7e44d478
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_4.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d64a5fd1dd9214098370b14955394a6f61ac85
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_4.obj
@@ -0,0 +1,799 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_5.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd331fc95581e05f698ff4faa473b8e36952e38f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_5.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_6.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9178a32b9125a8b3183e82ddbb6db2d496de4588
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_6.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_7.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d9f8cd6fb4184b4e7a9a7f3f0606ab0d1b42ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_7.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_8.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a48dd80070388f55cc89184d705339ca39438a59
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_8.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_9.obj b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5deb13ceb85f83922a295a1fb379a877f1df8b79
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/mesh/watering_can_004_collision_9.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/watering_can_004.xml b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/watering_can_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2c853dd5d961a6f766b986698b52257b9e315c2e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/mjcf/watering_can_004.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="watering_can_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/watering_can_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/watering_can_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/watering_can_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/watering_can_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/watering_can_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/watering_can_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/watering_can_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/watering_can_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/watering_can_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/watering_can_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/watering_can_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/watering_can_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="watering_can_004">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/textures/material_0.png b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/textures/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d1a3fe04e8a91a2db7236ce2c79b282f7487cd351afe419570108ae7d55c94da
+size 8459027
diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/video.mp4 b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/video.mp4
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/watering_can_004.urdf b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/watering_can_004.urdf
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index 0000000000000000000000000000000000000000..9e2af4ff8a98d097d5cdb93e4563ebf0ec1c2510
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/watering_can_004.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_004">
+   <link name="watering_can_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/watering_can_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0beb393d324d560ea43f23064748c66b</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>watering_can</category>
+         <name>spray bottle</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact spray bottle with trigger nozzle and rounded base</description>
+         <min_height>0.1747</min_height>
+         <max_height>0.1747</max_height>
+         <real_height>0.1747</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414160835</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/0beb393d324d560ea43f23064748c66b/watering_can_004.usd b/dataset/livingroom_supplies/ornaments/0beb393d324d560ea43f23064748c66b/watering_can_004.usd
new file mode 100644
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@@ -0,0 +1,3 @@
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+size 4931551