diff --git a/.gitattributes b/.gitattributes
index bef78585d2ca1051fc4a6da8e51f588bdfa9e9b8..4cec3764b67ce2eec1d4c15da7f0dbfcea325698 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4982,3 +4982,5 @@ dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/cand
 dataset/livingroom_supplies/ornaments/9b29e9dfe396551899f43c09ed9b0e58/9b29e9dfe396551899f43c09ed9b0e58.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/9aef7ed73af55f539aa5f9a5d101d6ad/mesh/watering_can_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/9aef7ed73af55f539aa5f9a5d101d6ad/watering_can_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/diffuser_bottle_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/diffuser_bottle_009.urdf b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/diffuser_bottle_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c74be54b15738db65d4d5e2767277219bf019f5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/diffuser_bottle_009.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_009">
+   <link name="diffuser_bottle_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>9b1a9d9ff843543c872054f57f4aa318</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>rose diffuser</name>
+         <color>pink</color>
+         <shape>cylinder</shape>
+         <material>glass, wood</material>
+         <description>cylindrical diffuser bottle with floral design and wooden base</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416203849</generate_time>
+         <gs_model>""</gs_model>
+      </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/9b1a9d9ff843543c872054f57f4aa318/diffuser_bottle_009.usd b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/diffuser_bottle_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..46bd5f2cc909235d95772b0dfc99d0cafad8d4dc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/diffuser_bottle_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1c069e95a21414559466e07b6c29fd3eee82f7d24434788ab268982fbbf7aa5
+size 4950936
diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.glb b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f4eecb2ad069389132b56247ace9ce94c7ed2501
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9daabe05430bbe4531c4c0ca28d5a851dbbdfef8f3314bbd153136ad940e5218
+size 16356744
diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.mtl b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a47a4bccf38126a8549daf40dd0ac707e51f5c88
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_009_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/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751869420f5e2dce57532effa01a89290a1f3956
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.obj
@@ -0,0 +1,116642 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_009_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009_collision.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7825d1baac238cb6840222d3a544bcd063200128
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/material.mtl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/diffuser_bottle_009.xml b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/diffuser_bottle_009.xml
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb5014435f3f0370d45662f9ce2a0590a1b1a479
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009.obj
@@ -0,0 +1,116642 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_009_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2b1274cada44b79e4cd65c791b5461d825533fb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision.obj
@@ -0,0 +1,25342 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_0.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f1093db37f387c3d80ab1e10c180b061abd520
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_1.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe37f0a03ca213774941684c10fcf235b436eb89
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_10.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3693cf73a8865d5c90a5215ef45450d70d38551
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_10.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_2.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fb624e72f4412006127749a470c3bd61fe2181b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_3.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4609822d453027d4225585717958c84eadf2d16
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_4.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab391ef1a54583ad46c13906c3c209fec3ad27d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_5.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea1898094c44daa0bc514eaad2f8161f6a2b8a69
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_6.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..614185bd2ff6ec03af0dd3aef592c8e7834f1371
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_7.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4705f3ddfa7176a832d3d0d546421eb6058495b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_7.obj
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_8.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e231903b9b2e4e0828a557d26c678cb8ed688c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_8.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_9.obj b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b3a002702c29a3fe0bb309b35c36fc7d56efc6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mjcf/mesh/diffuser_bottle_009_collision_9.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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