diff --git a/.gitattributes b/.gitattributes
index ca9401c4229e4ba20203d19f1c4bdc19a63c3355..41025886c1b14970fb913b754f7463d85809a5b8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4981,3 +4981,5 @@ dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/candle_ho
 dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/94762781a7005c20b4df62dbdb2521aa/candle_holder_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/94762781a7005c20b4df62dbdb2521aa/mesh/candle_holder_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/watering_can_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07642276ab60cf7a71f7dec0d1582a3e2a2f28b4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/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/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/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/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.glb b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.glb
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.mtl b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba0663ad71000a138e37dbbf784de36573698a35
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.mtl
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+newmtl watering_can_025_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.obj b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..343a93e9b853e88236446e5c470a29e7b51ab4dc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025_collision.obj b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a4a64f63f056ca853e5476682c40b2ed8efa503
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/watering_can_025_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025.obj b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision.obj b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2107e10b48bfcbb6348468a62740ce9e841746e2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision.obj
@@ -0,0 +1,7817 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_0.obj b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d1e745c50b428485e0fe748417562792ccd01ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_1.obj b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62b94bf6693d05fa202f0a57c76bd5065fba7eac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_2.obj b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b074b5dfba9152d3f582a2021e3d30c5ded0da
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_3.obj b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e069b32955087e222ff00bce80de209f5d6a2594
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_3.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_4.obj b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b57f341cd4558c2588ac399592580c0e491933
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_5.obj b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dd7f128f532faec6d07883bad11c85baba204f7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/mesh/watering_can_025_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/watering_can_025.xml b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/watering_can_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bc299bbc2a1f1490b1108f649a4d7ae8e83a9f34
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mjcf/watering_can_025.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="watering_can_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/watering_can_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/watering_can_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/watering_can_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/watering_can_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/watering_can_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/watering_can_025_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="watering_can_025">
+      <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>
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/textures/material_0.png b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/textures/material_0.png
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+size 7622743
diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/video.mp4 b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/video.mp4
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/watering_can_025.urdf b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/watering_can_025.urdf
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/watering_can_025.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_025">
+   <link name="watering_can_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/watering_can_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>a3fa12f1d57656e78fd25abb4d0bfc09</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>watering_can</category>
+         <name>yellow spray bottle</name>
+         <color>yellow,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>yellow plastic spray bottle with black trigger nozzle</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518203321</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037530 -0.045972 -0.072020</min>
+            <max>0.037319 0.037721 0.127980</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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>
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diff --git a/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/watering_can_025.usd b/dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/watering_can_025.usd
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+size 4939223