diff --git a/.gitattributes b/.gitattributes
index e048dcd077b58a85ed7171f2b0e7fddb4de876b6..25105bd9e26887aca6088fb439e19c51730b61ed 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4899,5 +4899,5 @@ dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/diffuser_
 dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/mesh/diffuser_bottle_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/watering_can_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/candle_holder_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/watering_can_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c41f27bfbb6bd48c3e071056a62329a9633fc4fc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fc890e2f7eae08440d457263b9f162adffc2c33
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/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/1b50108971675b6f8492efc2689637db/mesh/watering_can_010.glb b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8bd636db661c72b2179d2a2a0e924ba8dd7af612
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010.glb
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+size 12898760
diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010.mtl b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5b4ef69a9903f830f4889c623ec58c2be0688315
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010.mtl
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+newmtl watering_can_010_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ef83e7cd89d221418e64f5fbe1905f51b965a3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010.obj
@@ -0,0 +1,112448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010_collision.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e61f60bd258da93a62198f1ab1915b0407879815
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mesh/watering_can_010_geometry_Looks_material_0.png
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+size 9417282
diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/material_0.png
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+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9417282
diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010.obj
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index 0000000000000000000000000000000000000000..cd4f06629ecd2c49bff3993761513caf73da415d
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+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d656de369c623396f685247ba5f62c5ae39d034e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision.obj
@@ -0,0 +1,25916 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_0.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6d78c837d29701c840527f4806b5e0e90e13b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_1.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f54b717501785d22a0214132827e782414ffcf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_10.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802df8a1fb91a03f4fd8a52ba190fb883787a620
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_10.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_11.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec468657a9b48a37fda8a337704f5287407330f9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_11.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_2.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..405ce2561c2790400766e2a3e7260118d6a0c53a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_2.obj
@@ -0,0 +1,958 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_3.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5dce2f6c73ead2d779a00e448db550c27742d24
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_4.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7088a528ddac8e4371ecc7988688f394c511f06e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_4.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_5.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4bbb1a201f78fdbf835d263d91bc75c73c6779f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_5.obj
@@ -0,0 +1,718 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_6.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c978126abd8673fe950205415af85d94da77a739
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_7.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92881681af0ba4c2dc3c8d4159aa4a24c7515ad4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_7.obj
@@ -0,0 +1,3253 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_8.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a53859f6a8febd8505ee71feb2135bac1d1ca36a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_8.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_9.obj b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a39547614bc95970b9e9d023a3b49bdf6ecf1557
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/mesh/watering_can_010_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/watering_can_010.xml b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/watering_can_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ca096c77b4fff040fe3cad71ea11845f28031367
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/mjcf/watering_can_010.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="watering_can_010">
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/watering_can_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/watering_can_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/watering_can_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/watering_can_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/watering_can_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/watering_can_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/watering_can_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/watering_can_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/watering_can_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/watering_can_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/watering_can_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/watering_can_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <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" />
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+      <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>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/textures/material_0.png b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b89c191b72ff379f4400a85b8de86956a74a32ebbdc3ba089caa8da710e785a1
+size 9417282
diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/video.mp4 b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/video.mp4
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@@ -0,0 +1,3 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/watering_can_010.urdf b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/watering_can_010.urdf
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+++ b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/watering_can_010.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_010">
+   <link name="watering_can_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/watering_can_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>1b50108971675b6f8492efc2689637db</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>watering_can</category>
+         <name>duck watering can</name>
+         <color>yellow</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>duck-shaped watering can with orange handle and yellow spout</description>
+         <min_height>0.1900</min_height>
+         <max_height>0.1900</max_height>
+         <real_height>0.1900</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416204500</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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>NO: {"summary":"Main body and head are merged; spout/nozzle and neck are merged into one color.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/watering_can_010.usd b/dataset/livingroom_supplies/ornaments/1b50108971675b6f8492efc2689637db/watering_can_010.usd
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