diff --git a/.gitattributes b/.gitattributes
index da79be5a8a797401323de4c92a7aa1a1253de05a..597d6be99115497c6a998177a6381afb01e0c181 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5509,5 +5509,9 @@ dataset/kitchen_supplies/cutting_tools/ed8a8cec4aa55c38b10b1dae53afe97e/ed8a8cec
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 dataset/kitchen_supplies/ware/4b2bd6998bcd577386fb9f69f393b2ab/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4b2bd6998bcd577386fb9f69f393b2ab/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/67d460f3b8ab5b658ca4e0152d389c2d/measuring_tape_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/67d460f3b8ab5b658ca4e0152d389c2d/mesh/measuring_tape_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/68f77bd2a51651c0b6fdc9ef8132d64b/mesh/wrench_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/68f77bd2a51651c0b6fdc9ef8132d64b/wrench_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/diffuser_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/diffuser_bottle_011.urdf b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/diffuser_bottle_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9728441ac94a1f23d50e23f53307476506fb87db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/diffuser_bottle_011.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_011">
+   <link name="diffuser_bottle_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <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>b45bef39ec445589b1247e4529f8ea9d</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>glass pump bottle</name>
+         <color>transparent,black</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>clear glass diffuser bottle with black pump dispenser</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.35</min_mass>
+         <max_mass>0.75</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518194439</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.027111 -0.030849 -0.036942</min>
+            <max>0.027092 0.027227 0.093058</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/b45bef39ec445589b1247e4529f8ea9d/diffuser_bottle_011.usd b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/diffuser_bottle_011.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/diffuser_bottle_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011.glb
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+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..54707a30e3d7402f9475903ff42cd63c65a47469
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+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011.mtl
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+d 1.000000
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diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011.obj b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c08ae0eed701b477bbad494d6088dcb2c076c87
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+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011_collision.obj b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..69c10861468555c86e1ae67aef63b7becd47a2ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/diffuser_bottle_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:615888af44cba7d4f3448b516b869520d523f02b68e365945e866ffb7260f270
+size 4023418
diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..859adbf2679f1629924b26dccf5031b758c17191
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..69c10861468555c86e1ae67aef63b7becd47a2ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:615888af44cba7d4f3448b516b869520d523f02b68e365945e866ffb7260f270
+size 4023418
diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/diffuser_bottle_011.xml b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/diffuser_bottle_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e1e308257499bbf74536bc1bd4eefb15909479ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/diffuser_bottle_011.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_011">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_011_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_011_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_011_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/diffuser_bottle_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/diffuser_bottle_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_011">
+      <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/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011.obj b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c598e58b65ddd4dbebb8d8ca51121a8ed57945be
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d94e88f2d3165dba7e7bef2407581b82ec7a5f09169245c5b5648d58ff7c8b7
+size 37739004
diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision.obj b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cd6e00e5d5efe70f5594c35a73ab070d853d951
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision.obj
@@ -0,0 +1,6847 @@
+# https://github.com/mikedh/trimesh
+
+o diffuser_bottle_011_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_0.obj b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e235ab3bb58c5a0fe823a7060bcb059f5d6dd47a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_1.obj b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de18ab1aa0d8a08fe99c8c027e7ab9bbf02295a1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_1.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_2.obj b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48b20f5adc7c34209c46767dda21516df902835
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_3.obj b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7afe1fb48d4aa95aa29e4b972556aac425cd4142
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_4.obj b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa1e6a2718c6cfd5b0d9d2792f3c5f0990dea202
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/mjcf/mesh/diffuser_bottle_011_collision_4.obj
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