diff --git a/.gitattributes b/.gitattributes
index 6f7ffeb18ed1c641f96e23f7c842eb705e28efbb..51c7c4d581e07ed6e358b61b420e15ac494208fa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4973,3 +4973,4 @@ dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/phot
 dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/photo_frame_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/949b35ff81195a5ea907f7fbdaa6242f/949b35ff81195a5ea907f7fbdaa6242f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/95ae3dbbcc5c53c1af73ad8c3751c616.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/95ae3dbbcc5c53c1af73ad8c3751c616.urdf b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/95ae3dbbcc5c53c1af73ad8c3751c616.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5aa7dd30b2550a0af1773436cce8270824d055d4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/95ae3dbbcc5c53c1af73ad8c3751c616.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_32">
+   <link name="watering_can_32">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/watering_can_32.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/watering_can_32_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>watering_can</category>
+         <description>yellow watering can with curved handle and conical spout</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251016201026</generate_time>
+         <gs_model>mesh/watering_can_32_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.643174052238464</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/95ae3dbbcc5c53c1af73ad8c3751c616/95ae3dbbcc5c53c1af73ad8c3751c616.usd b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/95ae3dbbcc5c53c1af73ad8c3751c616.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8292ee32be6d92add12339e510b36f6a506a021a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/95ae3dbbcc5c53c1af73ad8c3751c616.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bda82a8c05ef8e684d5a3d3bff04da9c002247ea39f444ad788e228b835acfa6
+size 1000904
diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/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/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc4971b835a1b6c35b59a35154b92113967642e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82f8ad0f5b7093aabc842a46599574c6aae1ddba78152e0093652562fc1b91e7
+size 898789
diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/watering_can_32.glb b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/watering_can_32.glb
new file mode 100644
index 0000000000000000000000000000000000000000..baa1e86642caa1aa96e1c494863faac7700c81f0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/watering_can_32.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a920c05df2b5db32b9bfdd08bbf777a9c1ae9b41cf1d5f552b26bd5e39536d6d
+size 1582864
diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/watering_can_32.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/watering_can_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6ba82e79cbaa1d53b528267bd154fc7dfc0338a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/watering_can_32.obj
@@ -0,0 +1,62670 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/watering_can_32_collision.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/watering_can_32_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1acb1bf14fc85ae7257aacedda92030a7009725
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mesh/watering_can_32_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/95ae3dbbcc5c53c1af73ad8c3751c616.xml b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/95ae3dbbcc5c53c1af73ad8c3751c616.xml
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c88ebc2b54ccf23783e4a29eabb0ac940cc69d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision.obj
@@ -0,0 +1,11796 @@
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_0.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..202f84bca7053873f6165b83271a6894c5e465a3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_1.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca51bb1dd74e45cd54fe7328645bea5edb5e54d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_10.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a63bc807dc587cdec01b5363ab3102f6572ad17d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_10.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_11.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df5fd7915561c8539555f0e941c13c977dc9d7d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_11.obj
@@ -0,0 +1,805 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_12.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf50a1f8f88640b0acdb238ab9fd16b7546b412
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_12.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_13.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84dbad522bd425a37197b17e651e2b0ed56de4a0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_13.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_14.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d46394c98d693f4e58140ab6d4713da90c5c8308
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_14.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_15.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13015dd9fa50c7016cea3b74cce4eb4d9102783f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_15.obj
@@ -0,0 +1,832 @@
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_2.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00eaa5a40cb5963d5ce429365d563bdd736091bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_3.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..614568e529753e950bfe52e50fdeb5b40d112fa3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_4.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d42896305fa3c6de6b3f7b38e9e49fc136802b3f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_5.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52670b61400681173b861bf8c0e02a961535fbff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_6.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093106d11e553809036a90d49e644bc4e83cde8e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_7.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a2f2e02adfba62003ed4d92726b2c0109435e15
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_7.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_8.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc013caf2d50da722e33e0e356aae666fa780b10
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_8.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_9.obj b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6d2474848d0be94e074d41fd180fde00797de71
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/mjcf/mesh/watering_can_32_collision_9.obj
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