diff --git a/.gitattributes b/.gitattributes
index 72b5077100c4f463ba486ae96537ede5150dcc4a..6b440dc53675152e1d180672657ecadf451890f8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4904,5 +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/262fcedf3b0f556a9cc690a4f5615b02/diffuser_bottle_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/diffuser_bottle_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/watering_can_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ca210b6b2351ee820f5a3cc253f8339ec9feb09b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl watering_can_030_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 watering_can_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ebb64180c7a74a83458c268e13a4857c35d6385
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd1ae12c08c7f1526ac719a1ccb62c5e3bd9690330f9dfd736f48ac2162f6d75
+size 10333602
diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.glb b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..efeb2030116ba00cbf179a6f34e4c9cd0c8dbf6d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:534fbc8d6888fe248bff763adc13cfeb1a1c8dfdbda3eacc5d9c64cecf6e299d
+size 13829692
diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.mtl b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dacdb0ed78ff409b6a657d2d953f34d82910dc12
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.mtl
@@ -0,0 +1,6 @@
+newmtl watering_can_030_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/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.obj b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dadb3ec448570370895b25dccc689c2b72118094
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.obj
@@ -0,0 +1,130578 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl watering_can_030_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030_collision.obj b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3ad7f75cad90ded9181e9f5381dd7764537571
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030_collision.obj
@@ -0,0 +1,13181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030.obj b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision.obj b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a06dea8ac4d58a41d61e33e972d3b96b9144163d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision.obj
@@ -0,0 +1,13181 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_0.obj b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03479b978a7773aceccd17d76e9db134af1d6e14
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_1.obj b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573ad52c1b3de40fecfed903e44dc284bba8103c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_1.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v 0.00162045 -0.06062310 0.06565171
+v -0.00162933 -0.06061582 0.06565171
+v -0.00162933 -0.05973060 0.06282998
+v 0.00162045 -0.05973060 0.06282603
+v 0.00487185 -0.05928617 0.06332398
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diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_2.obj b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06977dfbce24c5c9957e8b19c072e7ac09c49fec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_3.obj b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6dec4f115f5e4a8fd3febe6c33a6fb16c60a80c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_4.obj b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a48f2aaaf5f2c8f23a259fe55170d0330dcb99
--- /dev/null
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diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_5.obj b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47f251bb65a5f1fa644407dfe6a38f988f07c72d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/mesh/watering_can_030_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/watering_can_030.xml b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/watering_can_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ec0c74b26646e5262f23c1cde4e634353c712d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mjcf/watering_can_030.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="watering_can_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/watering_can_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/watering_can_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/watering_can_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/watering_can_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/watering_can_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/watering_can_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="watering_can_030">
+      <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>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/textures/material_0.png b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/textures/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:fd1ae12c08c7f1526ac719a1ccb62c5e3bd9690330f9dfd736f48ac2162f6d75
+size 10333602
diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/video.mp4 b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed9c722d7776a123b9c47fca3504d5d3591ffee3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a0c057602458d6cb5f0c80f7c877665894abfe0982876b9744a6633a26aa2eb
+size 419229
diff --git a/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/watering_can_030.urdf b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/watering_can_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a7df5ae43e8223d6e681f3e9f2104ed2a2036d23
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/watering_can_030.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_030">
+   <link name="watering_can_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/watering_can_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>2bf6ddd340215d62b658c66e04b7c2b3</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>watering_can</category>
+         <name>orange spray bottle</name>
+         <color>orange</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>orange plastic trigger watering can with textured grip body</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518203540</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.052352 -0.060200 -0.065326</min>
+            <max>0.052342 0.054185 0.134674</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/2bf6ddd340215d62b658c66e04b7c2b3/watering_can_030.usd b/dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/watering_can_030.usd
new file mode 100644
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