diff --git a/.gitattributes b/.gitattributes
index 48e283b4b1f1a7e5c5fb7916b0ae04814c7da769..9c53fea5db045851bf460ea3666fa288f25b7275 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4897,3 +4897,5 @@ dataset/livingroom_supplies/ornaments/0a1c9a57eb2953d9a2a9df19ef7c61b3/mjcf/mesh
 dataset/livingroom_supplies/ornaments/140a652b5e6b503e8ad43009f5fc9044/140a652b5e6b503e8ad43009f5fc9044.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/diffuser_bottle_001.usd filter=lfs diff=lfs merge=lfs -text
 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
diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..340c7d1ac0f8bed93dd03f648a85121e316adb93
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl watering_can_009_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e5cd41794638a0cc6e859343eba4718f7d5e93e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/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/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.glb b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a34027e7219e3e5e214ee79c86691e599a72fb69
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13631436
diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.mtl b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12b5b91a1d3929d3c2f5fe7c88f0082e95ab24f9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.mtl
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+newmtl watering_can_009_geometry_Looks_material_0
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+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/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e483b1db518615f7eda51e9e6ce3cc1292cb46c5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.obj
@@ -0,0 +1,108654 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl watering_can_009_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009_collision.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1165d18e614fb05ee05a1d91ede41302f5fc3a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009_collision.obj
@@ -0,0 +1,11953 @@
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009.obj
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b275e1be001f66f24cbaa8b3185e6b4e7b96a451
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision.obj
@@ -0,0 +1,11953 @@
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_0.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71564b346a9a6540c0c547d6818c7405e3d3cdd6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_0.obj
@@ -0,0 +1,1543 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_1.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89e3d65527f0d1b32da7a8ef3349dfb246730b96
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_10.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc44fbfdd8f1f509d8c3f5a39c2fbba6ab4d7563
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_10.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_2.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1625c3f093ecf8d54aa5d3a7d39dbfe098e553c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_2.obj
@@ -0,0 +1,748 @@
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_3.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1581cf610c62c526bfccd101e4f3a6685d6245b0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_4.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b6fc6fb77c3b9ba9ecc3a28db6af4cf0f4560c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_4.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_5.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc7f542db7f954490f9919123deba620e7664c9c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_5.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_6.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a88be6dbe75fdcd7c74c182f6066740f3fa082d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_6.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_7.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efd5d8b67ed3be1bbafa4f04bddb4eac73b89174
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_7.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_8.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9704eb8747b7172b0ee9cf5f684c0f0866f4f2a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_8.obj
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_9.obj b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/mesh/watering_can_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d57e62e4ae594595a1810ad1cc317bae56d842ca
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/watering_can_009.xml b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/watering_can_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4b3083ba85b367f65878adde1131a802343c2a64
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mjcf/watering_can_009.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="watering_can_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/watering_can_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/watering_can_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/watering_can_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/watering_can_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/watering_can_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/watering_can_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/watering_can_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/watering_can_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/watering_can_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/watering_can_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/watering_can_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="watering_can_009">
+      <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" />
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+      <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" />
+      <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>
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diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/textures/material_0.png b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:57841fe265405f8bc6ff750d4acb103e4fd43c7716cab19b304c420a4fefc7f6
+size 10294322
diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/video.mp4 b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/video.mp4
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:66aeab20d62a7c1ff7166457cc970a6f23cf47072912e7581d3021e95deea921
+size 223003
diff --git a/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/watering_can_009.urdf b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/watering_can_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9199909a4e608c13614ae5531e17e3f8db2bacd9
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+++ b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/watering_can_009.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_009">
+   <link name="watering_can_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/watering_can_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/watering_can_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
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+      <inertial>
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+         <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>
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+         <uuid>15d3fed0b5f654bd98978b4e20a94c52</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>watering_can</category>
+         <name>stainless sprayer</name>
+         <color>silver</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>metallic sprayer with wooden handle and nozzle</description>
+         <min_height>0.2700</min_height>
+         <max_height>0.2700</max_height>
+         <real_height>0.2700</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416204436</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/15d3fed0b5f654bd98978b4e20a94c52/watering_can_009.usd b/dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/watering_can_009.usd
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