diff --git a/.gitattributes b/.gitattributes
index 972a9bd20e3f637a40942f2cc9b8510d8eeea7c2..b3ea1acad3e39f26e5759d232b82d230f2177381 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4941,3 +4941,7 @@ dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/houseplan
dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/candle_holder_010.usd filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/candle_holder_016.usd filter=lfs diff=lfs merge=lfs -text
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+dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mesh/candle_holder_016.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/candle_holder_016.urdf b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/candle_holder_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..326376959072f54986709c8ac68f8e0c35a24f7e
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new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mesh/candle_holder_016_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mesh/candle_holder_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce482a8c40ae45373df7a1e216de379545eaf76a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mesh/candle_holder_016_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef4c2bbd5ccbc1713ed038befcd8cfa4d5097b77
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/candle_holder_016.xml b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/candle_holder_016.xml
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016.obj
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision.obj
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index 0000000000000000000000000000000000000000..c462d3db6a56b0769f2f69fb7cd97f6acb005078
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_0.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..061479519f6456d7d9e51e72e9111240f36094d4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_1.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68739f451342ca1335ad92d9cb3f4334d4d44865
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_10.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802d8301fbd803f4ed94c6ba886f7a4ee783df63
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_10.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_11.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8f7fad1839467d9392c92b4ecba5f777f17978
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_11.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_12.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd0e921af2c5419e95625fef586be85ea92da456
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_12.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_13.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d132a188b7879ab44b36d84470805be8a8498e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_13.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_14.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424864b28de4a85327aa5b07b6098eb378e5a339
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_14.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_15.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3e28150fc0c3ebe59b4070faf90160234f00564
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_15.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_16.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2508b319fdada6a388fbd4222313c536ba1cb739
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_16.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_17.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfbc17adea2faa637409e080cc235ecff4e5fd0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_17.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_18.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c933f5cfe4630be41015917acdc2d4cf645a256
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_18.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_19.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..077850125e93793af13c4954d15bbf293bf1dd12
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_19.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_2.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a116e98213c69dbc07185a5c73ba82a53be5157
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_2.obj
@@ -0,0 +1,685 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_20.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1acf04ca6cca9623156259803d3921b2cf6d0f24
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_20.obj
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_21.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32f3c5909436c1943060b744e29dcda899398205
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_21.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_22.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51107a27f4a1944dd345d52bed482ba34b674f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_22.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_23.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d33ee758ac0c43727460e1794cb1269003f72303
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_23.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_24.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da9dc11f2b52669ac4477bfbd9e43a78c869dcea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_24.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_25.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea04997b186b91d740bf7e74e7296c37ecf02ee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_25.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_26.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e771ffabdc6869f43a06be3a28f2d4acf0c5db0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_26.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00682116 0.01634843 0.11835853
+v 0.00440919 0.01617084 0.11848975
+v 0.00682116 0.01354372 0.11823859
+v 0.00682116 0.01778734 0.11815818
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+v -0.00005951 0.01833053 0.11827671
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+v -0.00682266 0.01354894 0.11824142
+v -0.00005951 0.00733237 0.11314780
+v 0.00153912 0.00740940 0.11318307
+v 0.00682116 0.00740940 0.11306596
+v 0.00682116 0.01797929 0.11801427
+v 0.00674504 0.01792575 0.11814126
+v 0.00146300 0.01980470 0.11673028
+v -0.00682266 0.01683285 0.11830209
+v -0.00682266 0.01634451 0.11835853
+v -0.00442938 0.01817515 0.11825272
+v -0.00148319 0.01980339 0.11673452
+v -0.00682266 0.00733237 0.11303633
+v -0.00148319 0.00733237 0.11312945
+v -0.00005951 0.00733241 0.10407527
+v 0.00682116 0.00740944 0.10407527
+v 0.00682116 0.01877578 0.11661459
+v 0.00415410 0.01971330 0.11620541
+v -0.00005951 0.01980470 0.11673170
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+v -0.00682266 0.00733241 0.10407527
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+v -0.00682266 0.01861780 0.11379688
+v -0.00422638 0.01495788 0.10407529
+v -0.00456027 0.01485081 0.10407529
+v -0.00546843 0.01455440 0.10407529
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+f 1 26 15
+f 1 15 4
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+
diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_27.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e49e41a34a2850a450e16e1474f777f2233d9c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_27.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.01621836 0.00438751 0.11849678
+v -0.01640817 0.00749963 0.11831183
+v -0.01817207 0.00438752 0.11824404
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+v -0.01832527 -0.00007759 0.11827791
+v -0.01621836 -0.00007760 0.11843040
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+v -0.01327356 0.01027947 0.11843891
+v -0.01793751 0.00662654 0.11812968
+v -0.01552826 0.01027948 0.11822430
+v -0.01941398 0.00438752 0.11647489
+v -0.01994003 0.00140832 0.11624755
+v -0.01994003 -0.00007759 0.11624754
+v -0.01541572 -0.00007759 0.11827791
+v -0.00682266 0.01398779 0.11831185
+v -0.00682266 0.01634494 0.11835986
+v -0.00759547 0.01640032 0.11831891
+v -0.01032605 0.01553277 0.11822432
+v -0.01315561 0.01311101 0.11825395
+v -0.01498187 0.01205150 0.11810287
+v -0.01751722 0.00859237 0.11783883
+v -0.01847712 0.00749963 0.11669798
+v -0.01803784 0.00943777 0.11585364
+v -0.02067352 0.00040419 0.11510247
+v -0.02067352 -0.00007758 0.11510247
+v -0.01456428 -0.00007759 0.11811553
+v -0.00682266 0.01354664 0.11824266
+v -0.00682266 0.01683409 0.11830338
+v -0.00682266 0.01780317 0.11815514
+v -0.00682266 0.01791023 0.11813255
+v -0.01209537 0.01493841 0.11810147
+v -0.01549843 0.01267724 0.11647492
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+v -0.01419551 0.01415023 0.11647492
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+v -0.02067352 0.00040419 0.11491750
+v -0.02067352 -0.00007758 0.11491750
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+v -0.00682266 0.01861904 0.11379791
+v -0.00737854 0.01851383 0.11386003
+v -0.00716432 0.01369804 0.10407389
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+
diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_28.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc988f73276f8e5fa6fc7e03188c66796a3813b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_28.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01619775 -0.00445518 0.11849046
+v 0.01636584 -0.00754054 0.11830982
+v 0.01815793 -0.00445517 0.11824351
+v 0.01831518 -0.00150820 0.11827738
+v 0.01831518 0.00003264 0.11827739
+v 0.01730391 0.00003264 0.11834372
+v 0.01619775 0.00003264 0.11841569
+v 0.01030502 -0.01329240 0.11843258
+v 0.01325206 -0.01034543 0.11842553
+v 0.01791799 -0.00665294 0.11812779
+v 0.01546031 -0.01034542 0.11821385
+v 0.01941998 -0.00445517 0.11647388
+v 0.01993917 -0.00160785 0.11627915
+v 0.01913530 0.00003264 0.11726840
+v 0.01456156 0.00003264 0.11810241
+v 0.00682252 -0.01403420 0.11831121
+v 0.00682252 -0.01640174 0.11835777
+v 0.00755589 -0.01644972 0.11831685
+v 0.01030502 -0.01556951 0.11821948
+v 0.01312870 -0.01316137 0.11824348
+v 0.01493434 -0.01209109 0.11808967
+v 0.01745980 -0.00861636 0.11781168
+v 0.01846293 -0.00754054 0.11668131
+v 0.01801966 -0.00949104 0.11582614
+v 0.02066983 -0.00069256 0.11515586
+v 0.02047462 0.00003265 0.11545644
+v 0.01993917 0.00003264 0.11627916
+v 0.00682252 0.00003265 0.11324229
+v 0.00682252 -0.01360240 0.11824348
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+v 0.00682252 -0.01777281 0.11816443
+v 0.00682252 -0.01795919 0.11812491
+v 0.01206457 -0.01499561 0.11809812
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+v 0.00735797 -0.01856629 0.11387726
+v 0.00682252 -0.01866594 0.11381798
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+
diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_29.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e209a1a339186b19c95f83cbe71b71c509eaf3b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_29.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00006064 0.00597668 0.11851112
+v -0.00006064 0.00733106 0.11314944
+v -0.00020626 0.00597668 0.11851112
+v -0.00006064 -0.00607973 0.11851108
+v -0.00148440 0.00733106 0.11313107
+v -0.00006064 0.00733110 0.10407387
+v -0.00682266 0.00733106 0.11303780
+v -0.00410554 0.00094908 0.11851110
+v -0.00025988 -0.00607973 0.11851108
+v -0.00006064 -0.00741963 0.11319743
+v -0.00682266 0.00733110 0.10407387
+v -0.00006064 -0.00741959 0.10407381
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_3.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01619e00e8bba14e9a1a18b5c4016dcc34961556
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_3.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_4.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bcb14cbc233f2c5f880f1843d468f2962c9b753
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_4.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_5.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8b30aac7d9097c5425ee8cfdf411ea0309a835
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_5.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_6.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a8a80d23873dd82ccff3f582528c637450bdf7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_6.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_7.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f4dd2da946d2e7bb8a76e4ee2513dee1559268f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_7.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_8.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cfcfdf2ee32736e01d5de8c35ddf9f533493bc6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_8.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_9.obj b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/mjcf/mesh/candle_holder_016_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/textures/material_0.png b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/textures/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/video.mp4 b/dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/video.mp4
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