diff --git a/.gitattributes b/.gitattributes
index 3870ffdc5cf03f29c79d3615b46870707e97e125..c45bbf67503c4cdc63b1a630f2f29ab08d954533 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4977,3 +4977,5 @@ dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/95ae3dbbc
 dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/95b24223248e55b0ac3f12b4da6fcdba.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/918d6f360aab5299aa0089047173f6a2/houseplant_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/918d6f360aab5299aa0089047173f6a2/mesh/houseplant_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/candle_holder_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/candle_holder_031.urdf b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/candle_holder_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20327130a122a358b2fe02e069c1cf7667277e47
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/candle_holder_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="candle_holder_031">
+   <link name="candle_holder_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/candle_holder_031.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/candle_holder_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8500" />
+         <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>8f37fba45a6e54c0be79d5ea43c6ee92</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>candle_holder</category>
+         <name>tripod candle holder</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>dark riveted metal candle holder with cylindrical cup and three legs</description>
+         <min_height>0.1932</min_height>
+         <max_height>0.1932</max_height>
+         <real_height>0.1932</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609202648</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.068057 -0.066980 -0.110734</min>
+            <max>0.067963 0.073156 0.082445</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/8f37fba45a6e54c0be79d5ea43c6ee92/candle_holder_031.usd b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/candle_holder_031.usd
new file mode 100644
index 0000000000000000000000000000000000000000..218c65f3f97183a6ef8c4c26a225e9dddab297c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/candle_holder_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83f7c6d7b98e271a9be18db8c990e2af01608ffe5f549237f1472933f3e43901
+size 4903064
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.glb b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c0d5d56751945229633ff4cf3ae5554116b168bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:924a74841b465b4b4589618171d5eab04923e975c11e5bb39268705936046a13
+size 17801948
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.mtl b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..872f306d13769e8d2f5fe2046bc5e731412b55e9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.mtl
@@ -0,0 +1,6 @@
+newmtl candle_holder_031_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/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc825d6bfc86fd69cff8fdaae5402c85ed070b06
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.obj
@@ -0,0 +1,111690 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_031_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031_collision.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7dad1dce34d78fb63d34e2c26566b76819cd508
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd5067b91e53c0f56483fe170a963b0f63b42113
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a89002b3905663ad9fb453bc46c1f1612928acf6a94419cd3427f2718fd24a85
+size 14465490
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0f50e569f142a4ec001379da6c5f9329609c3ae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl candle_holder_031_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 candle_holder_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd5067b91e53c0f56483fe170a963b0f63b42113
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a89002b3905663ad9fb453bc46c1f1612928acf6a94419cd3427f2718fd24a85
+size 14465490
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/candle_holder_031.xml b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/candle_holder_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..13a9386cac7b83229c17c3bef6eb7e4e4e862a1d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/candle_holder_031.xml
@@ -0,0 +1,112 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="candle_holder_031">
+  <asset>
+    <material name="material_0" texture="texture_0_candle_holder_031_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_candle_holder_031_geometry_Looks_material_0" type="2d" file="mesh/candle_holder_031_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/candle_holder_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/candle_holder_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/candle_holder_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/candle_holder_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/candle_holder_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/candle_holder_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/candle_holder_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/candle_holder_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/candle_holder_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/candle_holder_031_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/candle_holder_031_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/candle_holder_031_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/candle_holder_031_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/candle_holder_031_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/candle_holder_031_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/candle_holder_031_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/candle_holder_031_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/candle_holder_031_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/candle_holder_031_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/candle_holder_031_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/candle_holder_031_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/candle_holder_031_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/candle_holder_031_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/candle_holder_031_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/candle_holder_031_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/candle_holder_031_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/candle_holder_031_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/candle_holder_031_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/candle_holder_031_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/candle_holder_031_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/candle_holder_031_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/candle_holder_031_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/candle_holder_031_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/candle_holder_031_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/candle_holder_031_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/candle_holder_031_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/candle_holder_031_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/candle_holder_031_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/candle_holder_031_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/candle_holder_031_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/candle_holder_031_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/candle_holder_031_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/candle_holder_031_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/candle_holder_031_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/candle_holder_031_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/candle_holder_031_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/candle_holder_031_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/candle_holder_031_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/candle_holder_031_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/candle_holder_031_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="candle_holder_031">
+      <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" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" 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/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4f78106c1365b2962a7b28a46928ede2fa2913a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031.obj
@@ -0,0 +1,111690 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_031_geometry_Looks_material_0
+v 0.065247 0.005896 0.025832
+v 0.065247 0.005896 0.025832
+v 0.065144 0.007579 0.027149
+v 0.065144 0.007579 0.027149
+v 0.065199 0.006857 0.026494
+v 0.065199 0.006857 0.026494
+v 0.065517 0.002252 -0.010507
+v 0.065517 0.002252 -0.010507
+v 0.065446 0.003293 -0.010218
+v 0.065446 0.003293 -0.010218
+v 0.065446 0.003293 -0.010218
+v 0.065565 0.000605 -0.011318
+v 0.065565 0.000605 -0.011318
+v 0.065565 0.000605 -0.011318
+v 0.065565 0.000605 -0.011318
+v 0.065611 0.000116 -0.032772
+v 0.065611 0.000116 -0.032772
+v 0.065749 -0.000257 -0.031269
+v 0.065749 -0.000257 -0.031269
+v 0.065700 -0.000626 -0.029271
+v 0.065700 -0.000626 -0.029271
+v 0.064941 0.008958 -0.033310
+v 0.064941 0.008958 -0.033310
+v 0.065045 0.008228 -0.032437
+v 0.065045 0.008228 -0.032437
+v 0.065045 0.008228 -0.032437
+v 0.065045 0.008228 -0.032437
+v 0.065211 0.006286 -0.034450
+v 0.065211 0.006286 -0.034450
+v 0.065211 0.006286 -0.034450
+v 0.065211 0.006286 -0.034450
+v 0.039338 -0.027809 -0.053649
+v 0.039338 -0.027809 -0.053649
+v 0.042247 -0.028591 -0.050623
+v 0.042247 -0.028591 -0.050623
+v 0.041944 -0.030488 -0.049653
+v 0.041944 -0.030488 -0.049653
+v 0.046452 -0.038299 -0.040444
+v 0.046452 -0.038299 -0.040444
+v 0.046452 -0.038299 -0.040444
+v 0.044781 -0.035104 -0.044071
+v 0.044781 -0.035104 -0.044071
+v 0.047078 -0.036844 -0.040951
+v 0.043686 -0.037836 -0.043024
+v 0.043686 -0.037836 -0.043024
+v 0.048600 -0.038914 -0.038264
+v 0.048600 -0.038914 -0.038264
+v 0.049938 -0.037264 -0.038255
+v 0.049938 -0.037264 -0.038255
+v 0.047200 -0.034057 -0.042738
+v 0.048642 -0.035341 -0.040625
+v 0.043007 -0.032927 -0.047081
+v 0.039843 -0.031708 -0.050602
+v 0.039843 -0.031708 -0.050602
+v 0.046084 -0.031261 -0.045535
+v 0.049510 -0.034172 -0.040636
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+v 0.039305 -0.029343 -0.052668
+v 0.051873 -0.034381 -0.038418
+v 0.051210 -0.033029 -0.039857
+v 0.049487 -0.031589 -0.042273
+v 0.049595 -0.030263 -0.042991
+v 0.046665 -0.029055 -0.046412
+v 0.043153 -0.027966 -0.050206
+v 0.043153 -0.027966 -0.050206
+v 0.053162 -0.032555 -0.038382
+v 0.052338 -0.030193 -0.040526
+v 0.049447 -0.028691 -0.044050
+v 0.046511 -0.027399 -0.047540
+v 0.054664 -0.030220 -0.038352
+v 0.054135 -0.032691 -0.037578
+v 0.052079 -0.035351 -0.037749
+v 0.052079 -0.035351 -0.037749
+v 0.050044 -0.038445 -0.037568
+v 0.050044 -0.038445 -0.037568
+v 0.063888 -0.008000 -0.037141
+v 0.063888 -0.008000 -0.037141
+v 0.064520 -0.006376 -0.036851
+v 0.063739 -0.010727 -0.036849
+v 0.063739 -0.010727 -0.036849
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+v 0.063211 -0.009866 -0.037430
+v 0.064432 -0.007642 -0.036705
+v 0.064432 -0.007642 -0.036705
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+v 0.064171 -0.002840 -0.037403
+v 0.064932 -0.002152 -0.036839
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..593b708c2c5843b2af987e4228d2db548b4b046f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision.obj
@@ -0,0 +1,11838 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_0.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc919e7a6fd18bf09501ea6bb004545ef5ae75a0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_0.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_1.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5de27e4d62779549ba6161b63866934ee4833ea2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_1.obj
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_10.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab72dfd1efbeab1f6c3d72cf083c5ddba6c6a1e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_10.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.04524897 -0.00149853 -0.06270081
+v -0.05394887 0.00625864 -0.05242933
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_11.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc067c195af6ba51a9d49b2061a483dcb3ebbd6c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_11.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v -0.03714298 -0.05612810 0.00015698
+v -0.03904662 -0.05506925 0.00034507
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+v -0.03714298 -0.05577378 -0.02843090
+v -0.03714298 -0.05078078 0.07708100
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+v -0.03742889 -0.05057510 0.07708100
+v -0.03947367 -0.04898300 0.07708101
+v -0.04105883 -0.04770704 0.07708101
+v -0.04279238 -0.04611495 0.07708102
+v -0.04437754 -0.04464093 0.07708103
+v -0.04587403 -0.04304884 0.07708103
+v -0.04638432 -0.04250037 0.07708103
+v -0.04638432 -0.04564225 -0.03482553
+v -0.03887471 -0.05488630 -0.03162823
+v -0.03714298 -0.05572043 -0.03162823
+v -0.03714298 -0.04968385 0.08044290
+v -0.03887652 -0.04849929 0.08027834
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+v -0.04379396 -0.04405438 0.08027836
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_12.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1985efc3569f98300638e957d21c8354f9ad253
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_12.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.02451546 -0.05995797 -0.00924067
+v -0.03495936 -0.05743991 -0.00119854
+v -0.03495936 -0.05743991 -0.00132787
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+v -0.02451546 -0.05794873 0.07708277
+v -0.03714084 -0.05612755 0.00015357
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+v -0.02552030 -0.05747847 0.07883463
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+v -0.03650308 -0.05602626 -0.03162690
+v -0.02451546 -0.05966259 -0.03468386
+v -0.02451546 -0.05768353 0.07928141
+v -0.03584308 -0.05170408 0.07708279
+v -0.03714084 -0.05077996 0.07708279
+v -0.02868190 -0.05429328 0.08191510
+v -0.02990921 -0.05465690 0.08001039
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_13.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f554b99f546bf46ea9c399d505d6f2a9600c5ced
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_13.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_14.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7abb32f8d997f5c247fed8f2d26853511eee9bad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_14.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_15.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e81e19a118ad5f17ea49cd7bb10d16f648ecc1d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_15.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_16.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5394db24e987f910728739569008d79947b506b6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_16.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_17.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b950792b50c24a110e763419c46af0580a0ab856
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_17.obj
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_18.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e41f1f13d642e18ebfe2e0b93b836dc98ea83e6a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_18.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00163319 0.04869665 -0.05594095
+v -0.00009645 0.04868920 -0.05594095
+v -0.00009645 0.04356855 -0.06415608
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_19.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c83aeef4e850399f5adc5403d2e953465260b1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_19.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03007003 0.01737781 -0.07278200
+v 0.02689802 0.02331445 -0.07271652
+v 0.02732878 0.02331445 -0.07269689
+v 0.03323812 0.01419538 -0.07266421
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_2.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b50c6c8b3bd3e7a03af21ddd1d48c731a718c5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_2.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_20.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..219ce7a9e4d31b978d3aac6d2926c6e1ca5e78a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_20.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00009645 0.04868874 -0.05594095
+v 0.00077081 0.04868626 -0.05594095
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+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 15
+f 3 15 19
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+f 3 44 47
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+f 6 11 7
+f 6 12 11
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+f 8 14 10
+f 8 10 9
+f 11 12 15
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+f 12 19 15
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+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
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+f 16 26 17
+f 17 26 27
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+f 20 29 21
+f 25 30 31
+f 25 31 26
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
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+f 31 42 32
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+f 34 47 45
+f 43 48 44
+f 44 48 49
+f 44 49 47
+f 45 47 50
+f 47 49 51
+f 47 51 50
+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_21.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6156830e333cc38216330e8f16be4e9fe403f93
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_21.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00163019 -0.03810112 -0.06510705
+v -0.00163019 -0.06426131 -0.04014652
+v -0.00406890 -0.03810112 -0.06480149
+v 0.00154073 -0.03810112 -0.06509584
+v 0.00154073 -0.06425592 -0.04014091
+v -0.00175571 -0.06563321 -0.03646858
+v -0.00401809 -0.06408881 -0.03995309
+v 0.00166327 -0.06563051 -0.03646858
+v -0.00001335 -0.06563321 -0.03646858
+v -0.00406890 -0.03810118 -0.04966644
+v -0.00406890 -0.06407803 -0.03994188
+v 0.02032417 -0.03810113 -0.06298214
+v 0.01738935 -0.03897978 -0.06255604
+v 0.01738935 -0.04056999 -0.06114599
+v 0.01421843 -0.04574488 -0.05656260
+v 0.00394358 -0.06407803 -0.03994468
+v 0.01738935 -0.04225722 -0.05954531
+v -0.00299897 -0.06544454 -0.03646858
+v -0.00343232 -0.06537716 -0.03646858
+v -0.00406890 -0.06410768 -0.03986338
+v 0.00488499 -0.06444729 -0.03824027
+v 0.00479533 -0.06497287 -0.03646858
+v -0.00406890 -0.04878251 -0.03646852
+v 0.02646279 -0.03810121 -0.04062578
+v 0.02177664 -0.03810113 -0.06205145
+v 0.02646279 -0.05812423 -0.03725348
+v 0.01933494 -0.04190414 -0.05925376
+v 0.01987289 -0.03878842 -0.06242989
+v 0.00726393 -0.06415620 -0.03731238
+v 0.01989381 -0.06092190 -0.03684140
+v 0.01738935 -0.06178708 -0.03646857
+v -0.00406890 -0.06519658 -0.03646858
+v -0.00406890 -0.06499173 -0.03719744
+v 0.02646279 -0.04173712 -0.03646849
+v 0.02646279 -0.03810115 -0.05663265
+v 0.02224585 -0.03810113 -0.06154405
+v 0.02198883 -0.03824937 -0.06173187
+v 0.02646279 -0.05790861 -0.03747494
+v 0.02646279 -0.05833716 -0.03646855
+v 0.02004623 -0.06098929 -0.03646856
+v 0.02646279 -0.04007139 -0.05479089
+v 0.02646279 -0.04229768 -0.05264918
+v 0.02646279 -0.04497946 -0.05005052
+v 0.02646279 -0.05653673 -0.03885136
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+f 4 15 5
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+f 6 19 18
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+f 12 27 28
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+f 13 28 14
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+f 14 17 15
+f 16 29 21
+f 16 17 27
+f 16 27 30
+f 16 30 31
+f 16 31 29
+f 17 28 27
+f 19 32 33
+f 19 33 20
+f 21 29 22
+f 22 29 31
+f 23 34 24
+f 24 34 39
+f 24 39 26
+f 24 26 38
+f 24 38 44
+f 24 44 43
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+f 24 42 41
+f 24 41 35
+f 25 36 37
+f 25 37 26
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+f 26 39 40
+f 26 40 30
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+f 30 40 31
+f 35 41 37
+f 35 37 36
+f 37 41 42
+f 37 42 43
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+f 37 44 38
+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_22.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1353110505c72888665e84d5dc02b3cc9a94d363
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_22.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01827818 0.02331441 -0.06168941
+v -0.02818727 -0.00254126 -0.06168951
+v -0.03710624 0.02331441 -0.06168941
+v -0.04524896 0.02331431 -0.03671557
+v -0.04524896 -0.00254133 -0.04371519
+v -0.04524896 -0.00254126 -0.06168951
+v -0.03716697 0.02322077 -0.06168941
+v -0.03870627 0.02331440 -0.06013450
+v -0.04524896 0.02331438 -0.05371196
+v -0.04524896 0.00130317 -0.06168950
+v -0.03796170 0.02192748 -0.06168942
+v -0.04192745 0.02331439 -0.05699780
+v -0.04524896 0.02302839 -0.05385622
+v -0.04512487 0.02331438 -0.05383665
+v -0.03862706 0.02076580 -0.06168942
+v -0.04427205 0.02182621 -0.05546491
+v -0.04524896 0.01340339 -0.05797577
+v -0.04452288 0.01289975 -0.05891947
+v -0.04178488 0.01331989 -0.06168945
+v -0.04387072 0.02331438 -0.05507862
+v -0.04524896 0.02126182 -0.05474613
+v -0.03896238 0.02008752 -0.06168943
+v -0.03941388 0.01915868 -0.06168943
+v -0.04524896 0.01431198 -0.05766527
+v -0.04154725 0.01413990 -0.06168945
+v -0.04524896 0.02008242 -0.05530845
+v -0.04025085 0.01737692 -0.06168944
+v -0.04524896 0.01735412 -0.05650886
+v -0.04417700 0.01502317 -0.05855762
+v -0.04110104 0.01528893 -0.06168944
+v -0.04477107 0.01970533 -0.05597099
+v -0.04524896 0.01737690 -0.05649908
+v -0.04045416 0.01689352 -0.06168944
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+f 1 27 23
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+f 25 28 30
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+f 26 27 31
+f 27 33 32
+f 27 32 31
+f 28 32 33
+f 28 33 30
+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_23.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0d89ade37396afdc105b3dc6bc09f0ad61e2083
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_23.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.02646279 -0.04173776 -0.03646849
+v 0.02646279 -0.04307119 -0.02553267
+v 0.02646279 -0.05833603 -0.03646855
+v -0.00406890 -0.04878135 -0.03646852
+v -0.00406890 -0.05005200 -0.02553269
+v 0.02646279 -0.05891864 -0.02553273
+v 0.02646279 -0.05884829 -0.03481240
+v 0.01845031 -0.06357918 -0.03245502
+v 0.01633736 -0.06397845 -0.03352559
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+v -0.00406890 -0.06519882 -0.03646858
+v -0.00406890 -0.06526917 -0.02553275
+v 0.02646279 -0.05892115 -0.02571258
+v 0.02037498 -0.06184405 -0.02553274
+v 0.01853100 -0.06361185 -0.02758608
+v 0.01905999 -0.06385792 -0.02971758
+v 0.02646279 -0.05888848 -0.03163710
+v 0.01905999 -0.06385792 -0.03032459
+v 0.01739234 -0.06419942 -0.03148831
+v 0.01738935 -0.06178877 -0.03646857
+v 0.01739234 -0.06293383 -0.03468929
+v 0.00303803 -0.06695659 -0.03312735
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+v -0.00406890 -0.06611788 -0.03409085
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+v -0.00313645 -0.06695910 -0.03314448
+v -0.00406890 -0.06632633 -0.02800897
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+v 0.00155269 -0.06733830 -0.02838261
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+f 19 36 22
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+f 22 37 23
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+f 30 48 31
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+f 47 50 48
+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_24.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f3cc3c721e960ed0a0759e710bcdae4a48085ab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_24.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.02646279 -0.05893778 -0.02213121
+v 0.02646279 -0.05892114 -0.02571343
+v 0.03641117 -0.05606911 -0.02844085
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+v 0.02646279 -0.04304378 -0.02213115
+v 0.02646279 -0.05888785 -0.03163688
+v 0.02909227 -0.05778200 -0.02213120
+v 0.02646279 -0.05884627 -0.03481229
+v 0.03641117 -0.05601504 -0.03163687
+v 0.03882411 -0.05491749 -0.02844084
+v 0.03841649 -0.05459321 -0.02641544
+v 0.04505117 -0.02412730 -0.02213108
+v 0.04505117 -0.01646917 -0.03966624
+v 0.02646279 -0.03901512 -0.03966632
+v 0.02919600 -0.05773211 -0.02213120
+v 0.02646279 -0.05812286 -0.03725135
+v 0.02690134 -0.05803971 -0.03716896
+v 0.02886481 -0.05761149 -0.03669522
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+v 0.04420500 -0.04765857 -0.02213117
+v 0.03905521 -0.05186593 -0.02213118
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+v 0.03519378 -0.05446435 -0.02213119
+v 0.03324304 -0.05557855 -0.02213119
+v 0.03073730 -0.05695051 -0.02213120
+v 0.04415041 -0.04770846 -0.02213117
+v 0.04251995 -0.04910121 -0.02213117
+v 0.04064018 -0.05065195 -0.02213118
+v 0.04505117 -0.04277763 -0.03966634
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+v 0.03490262 -0.05111335 -0.03966637
+v 0.03664773 -0.04996174 -0.03966636
+v 0.03864578 -0.04844842 -0.03966636
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_25.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59376abb4268c373544cfef72ecca1fc571edf13
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_25.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_26.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..792817bb75c3c8fee83d2de2d068b2cc4e67fe58
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_26.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_27.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a67893b246473971afe0c0f3666d6ab686c550f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_27.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_28.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579ea0f8a1ee20c5bca20e10bcc38a187e9c37f6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_28.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02646279 -0.03632886 -0.07321028
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+v 0.02690170 -0.03655451 -0.07321028
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+v 0.03026457 -0.03694857 -0.07418239
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+v 0.03257575 -0.03609984 -0.07418238
+v 0.03030061 -0.03650399 -0.07298549
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+v 0.02687201 -0.02161413 -0.07418233
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+v 0.03294680 -0.03568894 -0.07418238
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+v 0.02695259 -0.03446976 -0.06531551
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_29.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234084178dc3d4d1ee1e20f1806a5db0fe85cb5f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02604075 0.03339308 -0.06415697
+v 0.02959053 0.02963331 -0.06415698
+v 0.02793081 0.02796901 -0.07001151
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_3.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b8747b9f1f5814fe8d31f755f0c498701a84815
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_3.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.02508653 -0.04161039 -0.03774072
+v -0.02508653 -0.05818820 -0.03774078
+v -0.00407095 -0.04806057 -0.03774075
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_30.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..405b44df67c2a3b6720d8eff69b90f3bbae50631
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_30.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_31.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2613d9232d0ee767ae1f63707fde36eeedab439
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_31.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_32.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c84028f50121b68bb88a31501b222ce977bf32b6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_32.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_33.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cfa7610f5903e43aa5c69254b4308fb5d2dac84
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_33.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_34.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db7c355998311edae8183caed4692948add5e2d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_34.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_35.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e692c25fa8e3d2d1dcd49c38c8c9a44f85c32380
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_35.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_36.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c364b0c2982974a085ff52fabab887bed005ef
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_36.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_37.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eb5144a073cc6d3bbf218cddb8427460b71b88f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_37.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_38.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f362551337f087b5d0ae267d96fcfd149960fc75
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_38.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_39.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba770859a9b9cbfeac4ee5a0232dfe8ec4b4e869
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_39.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_4.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130593640f6fe286d1a46b4d091e0acc856c5e30
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_40.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ba0a05bf7952a426a8beba7aaf7c9a393311bd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_40.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03016246 0.01737826 -0.07278255
+v -0.03016246 0.01491848 -0.07269786
+v -0.03335485 0.01491848 -0.07255018
+v -0.03016246 0.02056127 -0.07260553
+v -0.02699240 0.02331363 -0.07272605
+v -0.02699240 0.02056127 -0.07272932
+v 0.00436890 0.02331362 -0.07155441
+v 0.00436890 0.02328897 -0.07155332
+v 0.00436890 0.02311802 -0.07153488
+v -0.01849574 0.01491847 -0.07163155
+v -0.03343075 0.01737497 -0.07221139
+v -0.03537297 0.01491847 -0.07198120
+v -0.03008656 0.02331363 -0.07215380
+v -0.03238597 0.02056126 -0.07200940
+v -0.02382233 0.02331363 -0.07264352
+v 0.00436890 0.02331359 -0.06300112
+v 0.00436890 0.02310570 -0.07152619
+v -0.01698661 0.01491847 -0.07131774
+v -0.03514526 0.01631232 -0.07183459
+v -0.04124428 0.01491844 -0.06169053
+v -0.03046161 0.02331362 -0.07203979
+v -0.03190376 0.02237754 -0.07175856
+v -0.01748667 0.01491844 -0.06298487
+v -0.01676336 0.01491844 -0.06310866
+v 0.00436890 0.02308512 -0.06310429
+v -0.01827696 0.02331359 -0.06169049
+v -0.02528235 0.01491844 -0.06169053
+v 0.00436890 0.02052017 -0.06969218
+v -0.01437912 0.01491847 -0.06983989
+v -0.04110141 0.01529155 -0.06169052
+v -0.04045400 0.01689580 -0.06169052
+v -0.04024861 0.01737822 -0.06169052
+v -0.03941369 0.01915916 -0.06169051
+v -0.03896273 0.02008785 -0.06169051
+v -0.03862787 0.02076669 -0.06169050
+v -0.03455143 0.01843432 -0.07092463
+v -0.03195734 0.02331362 -0.07001141
+v -0.03797153 0.02190741 -0.06169050
+v -0.03795813 0.02192960 -0.06169050
+v -0.03716339 0.02322072 -0.06169049
+v -0.03710534 0.02331359 -0.06169049
+v -0.01394156 0.01491845 -0.06440409
+v 0.00436890 0.02093600 -0.06407721
+v 0.00436890 0.01970489 -0.06753133
+v -0.01346828 0.01491846 -0.06916557
+v -0.01367367 0.01491845 -0.06467664
+v 0.00436890 0.01952819 -0.06697755
+v -0.01288785 0.01491846 -0.06681469
+v -0.01306645 0.01491845 -0.06577010
+f 1 2 3
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+f 1 6 7
+f 1 7 2
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+f 2 8 9
+f 2 9 10
+f 2 10 18
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+f 2 20 12
+f 2 12 3
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+f 4 13 5
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+f 4 14 13
+f 5 13 21
+f 5 21 37
+f 5 37 41
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+f 5 26 16
+f 5 16 7
+f 5 7 15
+f 5 15 6
+f 6 15 7
+f 7 16 25
+f 7 25 43
+f 7 43 47
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+f 7 44 28
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+f 11 12 19
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+f 12 20 19
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+f 16 27 23
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+f 19 36 22
+f 20 27 26
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+f 20 41 40
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+f 20 35 34
+f 20 34 33
+f 20 33 32
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+f 20 31 30
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+f 22 39 40
+f 22 40 41
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+f 24 43 25
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+f 28 45 29
+f 42 46 47
+f 42 47 43
+f 44 47 45
+f 45 47 48
+f 46 49 47
+f 47 49 48
+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_41.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88336a03523560026627c1f0cd7d2d7ff0753b2a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_41.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01288635 0.01491845 -0.06681508
+v -0.01346923 0.01491845 -0.06916577
+v -0.01306692 0.01491844 -0.06577081
+v -0.01562019 -0.00254124 -0.06681514
+v -0.01575641 -0.00254124 -0.06848488
+v -0.01437840 0.01491846 -0.06984019
+v -0.01629494 -0.00254124 -0.06925612
+v -0.01705206 -0.00254123 -0.07001212
+v -0.01367197 0.01491844 -0.06467649
+v -0.01630128 -0.00254125 -0.06467438
+v -0.01934874 -0.00254123 -0.07158179
+v -0.01698870 0.01491846 -0.07131740
+v -0.01394124 0.01491844 -0.06440346
+v -0.01741002 -0.00254126 -0.06391620
+v -0.01849976 0.01491846 -0.07163069
+v -0.03333157 -0.00254122 -0.07280228
+v -0.03016056 0.01491847 -0.07269780
+v -0.01676378 0.01491843 -0.06310900
+v -0.02065388 -0.00254126 -0.06275444
+v -0.03650257 -0.00254122 -0.07248248
+v -0.03333157 0.00782761 -0.07279572
+v -0.03333157 0.01101158 -0.07278048
+v -0.03333157 0.01419384 -0.07265103
+v -0.03335374 0.01491847 -0.07255095
+v -0.01748288 0.01491843 -0.06298499
+v -0.02528526 0.01491843 -0.06169053
+v -0.02818700 -0.00254126 -0.06169059
+v -0.03853315 -0.00254123 -0.07209849
+v -0.03650257 0.00146309 -0.07244221
+v -0.03650257 0.00464535 -0.07240521
+v -0.03594820 0.01101158 -0.07218220
+v -0.03549203 0.01419383 -0.07205709
+v -0.03537482 0.01491846 -0.07198095
+v -0.04124165 0.01491843 -0.06169053
+v -0.04524896 -0.00254126 -0.06169059
+v -0.03826389 0.00464534 -0.07181129
+v -0.04524896 -0.00254126 -0.06264784
+v -0.04524896 -0.00172775 -0.06275553
+v -0.04519511 -0.00172092 -0.06282950
+v -0.03816568 0.00668253 -0.07170142
+v -0.03787108 0.00880347 -0.07130002
+v -0.04154576 0.01414081 -0.06169053
+v -0.04524896 0.00130240 -0.06169058
+v -0.04524896 -0.00149874 -0.06270332
+v -0.04524896 0.00089052 -0.06187551
+v -0.04178652 0.01332047 -0.06169053
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+f 1 15 17
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+f 1 24 33
+f 1 33 34
+f 1 34 26
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+f 11 17 15
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+f 18 25 19
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+f 20 28 29
+f 20 29 22
+f 20 22 21
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+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 24 32 33
+f 26 34 42
+f 26 42 46
+f 26 46 43
+f 26 43 35
+f 26 35 27
+f 28 36 30
+f 28 30 29
+f 28 37 38
+f 28 38 39
+f 28 39 36
+f 30 36 31
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+f 31 40 32
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+f 33 42 34
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+f 35 38 37
+f 36 39 38
+f 36 38 40
+f 38 44 40
+f 40 44 45
+f 40 45 41
+f 41 45 43
+f 41 43 46
+f 41 46 42
+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_42.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48003141db4a56e92d694da0f53d089b5af9ea2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_42.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00406890 -0.02399609 -0.07169152
+v 0.01105816 -0.02399609 -0.07196866
+v -0.00406890 -0.02399612 -0.06230417
+v -0.00406890 -0.01763640 -0.07166721
+v 0.01105816 -0.02399609 -0.07167433
+v -0.00406890 -0.01618735 -0.07164395
+v -0.00406890 -0.01578323 -0.07163687
+v 0.01104928 -0.01261787 -0.07162978
+v 0.01105816 -0.01262270 -0.07162978
+v 0.01104928 -0.02399612 -0.06163560
+v -0.00406890 -0.01763643 -0.06266726
+v 0.01105816 -0.02398968 -0.06163863
+v -0.00406890 -0.01456120 -0.07146188
+v 0.00928278 -0.01283362 -0.07161966
+v 0.01105816 -0.01102714 -0.07116045
+v 0.01105816 -0.01445497 -0.06266926
+v 0.01104928 -0.01445497 -0.06266926
+v -0.00406890 -0.01445497 -0.06293832
+v -0.00406890 -0.01419250 -0.07137287
+v 0.01104928 -0.01102553 -0.07115944
+v 0.01105816 -0.01092732 -0.07109875
+v 0.01105816 -0.01127190 -0.06309812
+v 0.01105816 -0.01118818 -0.06313857
+v 0.01105816 -0.00849455 -0.06449088
+v -0.00406890 -0.01194328 -0.06420870
+v -0.00406890 -0.01234899 -0.07014294
+v 0.01105816 -0.00830778 -0.06937219
+v 0.01105816 -0.00839151 -0.06457686
+v -0.00406890 -0.01090801 -0.06681422
+v -0.00406890 -0.01182734 -0.06977374
+v -0.00406890 -0.01107384 -0.06747065
+v 0.01105816 -0.00754783 -0.06681421
+v 0.01105816 -0.00755749 -0.06671710
+f 1 2 5
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+f 1 18 25
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+f 1 29 31
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+f 1 30 26
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+f 24 28 25
+f 25 28 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 28 33 29
+f 29 33 32
+f 29 32 31
+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_43.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b44009d384590959e073e1e957ae92749cbcfb8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_43.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01739025 -0.03809975 -0.06327851
+v 0.02032723 -0.03809975 -0.06298351
+v 0.01593114 -0.03809975 -0.06323970
+v 0.02646279 -0.03599141 -0.07646459
+v 0.02177592 -0.03809975 -0.06205190
+v 0.01581650 -0.03809975 -0.06322806
+v 0.02224596 -0.03809975 -0.06154340
+v 0.02646279 -0.03594032 -0.07672078
+v 0.02646279 -0.03809977 -0.05663695
+v 0.01581650 -0.03216419 -0.07179879
+v 0.02646279 -0.03553163 -0.07875090
+v 0.01581650 -0.03809981 -0.04654846
+v 0.02646279 -0.03809983 -0.04062500
+v 0.01581650 -0.03040657 -0.07237715
+v 0.02646279 -0.03420756 -0.08012502
+v 0.02646279 -0.02399615 -0.05357037
+v 0.01581650 -0.02399613 -0.06007996
+v 0.01581650 -0.02718821 -0.07277696
+v 0.02646279 -0.03373399 -0.08028027
+v 0.02646279 -0.02399607 -0.07509043
+v 0.01581650 -0.02399610 -0.06681856
+v 0.01581650 -0.02400437 -0.07241983
+v 0.02646279 -0.03036651 -0.07951557
+v 0.02646279 -0.02444065 -0.07549801
+v 0.01738296 -0.02399608 -0.07258674
+v 0.02646279 -0.02992055 -0.07921668
+f 1 2 5
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+f 1 12 6
+f 1 6 3
+f 1 3 4
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+f 18 22 19
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+f 20 24 22
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+f 21 25 22
+f 22 24 26
+f 22 26 23
+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_44.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ef54ec1181210e0dac6eed0ccb15f9d80faf201
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_44.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.02422910 0.06113769 -0.03485184
+v 0.02656707 0.06050830 -0.03485184
+v 0.02552714 0.06044165 -0.03657961
+v 0.02422910 0.06104144 -0.03531630
+v 0.02422910 0.04567291 -0.03485189
+v 0.02932400 0.05954197 -0.03485184
+v 0.02422910 0.05932355 -0.03853651
+v 0.02422910 0.06069712 -0.03691402
+v 0.03015445 0.05914952 -0.03485184
+v 0.03188642 0.05730574 -0.03663329
+v 0.03007215 0.05776855 -0.03722573
+v 0.02802222 0.05695403 -0.03942208
+v 0.02422910 0.02592826 -0.05594023
+v 0.02667929 0.02331439 -0.05594024
+v 0.04592545 0.02331801 -0.03485197
+v 0.02422910 0.05898663 -0.03892665
+v 0.03233905 0.05786110 -0.03485185
+v 0.03572068 0.05456230 -0.03717413
+v 0.03306849 0.05547679 -0.03796887
+v 0.03007215 0.05642459 -0.03882345
+v 0.03213704 0.05426612 -0.03990512
+v 0.03007215 0.05483258 -0.04046453
+v 0.02422910 0.04228902 -0.05594017
+v 0.02422910 0.04829053 -0.04991670
+v 0.02590870 0.05742794 -0.03989685
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+v 0.04291415 0.02331439 -0.05594024
+v 0.05036198 0.02331431 -0.03485197
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+v 0.04137296 0.05096729 -0.03665808
+v 0.03425057 0.05362931 -0.03930649
+v 0.03958488 0.05163002 -0.03738263
+v 0.03683917 0.05268520 -0.03838998
+v 0.02547103 0.04156706 -0.05594018
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+v 0.04468352 0.04793877 -0.03682117
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+v 0.02948859 0.03888285 -0.05594019
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_45.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed97b6d6756c7235f75393e8cfa08130b1a7828b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_45.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_46.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1031d4b397211028a4dcc83382a2d843c1b7874a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_46.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_47.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe5f891b4f2ba355e28e276cc9d3585bcf28b306
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_47.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_48.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8da025910a7208f81ea11c331f07f49f09c6874
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_48.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_5.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aebcf5899af0bea2ba71b4c309f4db20b83da3e5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_5.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_6.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9085ef31a813c000352727040151316758ccae5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_6.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+v 0.02690127 -0.05545659 -0.03966638
+v 0.02646638 -0.03901383 -0.03966632
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_7.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b49ad481d1172856ded11bc3a1536e59d6e70a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_7.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_8.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6129209a4d4b40b0febb9c0f2520b6363a6c20f7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_8.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_9.obj b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e6410b7130dfbebc7b11783fa49c65eb991ab7d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mjcf/mesh/candle_holder_031_collision_9.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
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