diff --git a/.gitattributes b/.gitattributes
index 0391d8f7b76809a288d12a4485cc90abc9c4bd6d..ea20ac545ee6753e0712aa9439df7cbd4793da43 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4904,3 +4904,5 @@ dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/mesh/wate
 dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/watering_can_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/2a2cc1db7ead5d89a977152e2372190b/mesh/watering_can_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/2a2cc1db7ead5d89a977152e2372190b/watering_can_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/diffuser_bottle_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/diffuser_bottle_016.urdf b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/diffuser_bottle_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..efa722e02c9bd5025da25be96194e30926e2e4f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/diffuser_bottle_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_016">
+   <link name="diffuser_bottle_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>33ea960dbc825010b4e5334ed628e865</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>black diffuser bottle</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>matte black cylindrical diffuser bottle with short neck and cap</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.55</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518194804</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035429 -0.035483 -0.053690</min>
+            <max>0.035430 0.035466 0.076310</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/33ea960dbc825010b4e5334ed628e865/diffuser_bottle_016.usd b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/diffuser_bottle_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..441db39c9c23cf7f5c2d0999994d2b58900314e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/diffuser_bottle_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba4dd1102a18c15834dbd2b0b3230e369ae7fb19ac9bea68638bc796bd0dfcb4
+size 4794001
diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.glb b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aa2ea214b350af128bf93f147e0135737810dc46
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ca6fcad2242c707518ba7cc42206e807c47ba25668d7f1f910cac0dee8f8eae
+size 10359116
diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.mtl b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a561f3602122c019696bd3bdde2543460a4bc26e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_016_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/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.obj b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c212b90148bbbea1dfe7ec005cf7ca4dca39e3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.obj
@@ -0,0 +1,106378 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_016_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016_collision.obj b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0927cf2468bc9bd4f20123c8bca170e0169f7764
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..991758e1bee2b66d14adeb0fa2201f1c40dd0bba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d95960bc9900dbc2e5771bd0485dfea11bd98b1779f537c4c58d1f8859b28aee
+size 7193762
diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..766f8b62c3c1bfaeb754b338bf2a92e0452617c1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_016_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd diffuser_bottle_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..991758e1bee2b66d14adeb0fa2201f1c40dd0bba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d95960bc9900dbc2e5771bd0485dfea11bd98b1779f537c4c58d1f8859b28aee
+size 7193762
diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/diffuser_bottle_016.xml b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/diffuser_bottle_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..42c2f7d2051b428d8c693ec57dcd14c4e9dae8e4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/diffuser_bottle_016.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_016">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_016_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/diffuser_bottle_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/diffuser_bottle_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016.obj b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e98bc64c49c9ca44ee52cae973a2d322820e1dbf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016.obj
@@ -0,0 +1,106378 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_016_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision.obj b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dcf5e501ed0611fa20f0e907483671c800c7818
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision.obj
@@ -0,0 +1,12679 @@
+# https://github.com/mikedh/trimesh
+
+o diffuser_bottle_016_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_0.obj b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0fb2407a6cf67b436c08dd97522d8363407716
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_1.obj b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad2f33a46480ed4dba607141c972288dcccb9fad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_2.obj b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46542cc0fd4e929c6e19e4177af8de51ae78bc36
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_3.obj b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a1517a1678a0b18a11d58c3c7c563cccbb7455
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_4.obj b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7234d3eee4ea5ec78b0453204b3aa9767bdc823
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mjcf/mesh/diffuser_bottle_016_collision_4.obj
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