diff --git a/.gitattributes b/.gitattributes
index df8d5cee724a18fca0dc57e667e29ecb3cfc0745..be21f1987b5c105f4eac82be39e7ce650391ca4f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4959,3 +4959,4 @@ dataset/livingroom_supplies/ornaments/7cacd12e2206577684be506647ccd1d4/mesh/cand
 dataset/livingroom_supplies/ornaments/7db50e4b7b805d92aa356d4bf49aa1fc/candle_holder_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/7db50e4b7b805d92aa356d4bf49aa1fc/mesh/candle_holder_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/848ba50856fc5fa6bffb74386d5d0593/848ba50856fc5fa6bffb74386d5d0593.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/8d0365b3bac45ca7b0a5c7b44958af1e.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/8d0365b3bac45ca7b0a5c7b44958af1e.urdf b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/8d0365b3bac45ca7b0a5c7b44958af1e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..174af1c3bfb78614df6b8ca9d639ed17f7ee3675
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/8d0365b3bac45ca7b0a5c7b44958af1e.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_2">
+   <link name="vase_2">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/vase_2.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/vase_2_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.1500" />
+         <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>0.300000</scale>
+         <version>v0.1.5</version>
+         <category>vase</category>
+         <description>tall cylindrical vase with narrow base and smooth surface</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.5</max_mass>
+         <generate_time>20251016171700</generate_time>
+         <gs_model>mesh/vase_2_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.383686900138855</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/8d0365b3bac45ca7b0a5c7b44958af1e.usd b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/8d0365b3bac45ca7b0a5c7b44958af1e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..49e268a9cc081a0e0ce13167f0a75730b5e86026
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/8d0365b3bac45ca7b0a5c7b44958af1e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a335bb4a2f349c9a60994516a9e9b6f47a6f2271674974bf0bc3e63f006596b
+size 239118
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c45c28113b6048b5960987eb6bd4a0c40e2521a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf65513e6d70acda81af8b0b9d701d91e9dd9559a9783a1a81f05ef62e06f5ce
+size 218318
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/vase_2.glb b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/vase_2.glb
new file mode 100644
index 0000000000000000000000000000000000000000..05c3327f362b75f4d9f4ec5d77c92ace9db0b3bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/vase_2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a078afd62c74d8560a5967c29b84ebd19efaa916b454f9eda56b1529a2b8919b
+size 378476
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/vase_2.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/vase_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3c59bf3274d03d7bcb52bf335d77c976f3503e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/vase_2.obj
@@ -0,0 +1,14526 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/vase_2_collision.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/vase_2_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76c3fdd7d031daa28ff69c90e650dd0a6be632dd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mesh/vase_2_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/8d0365b3bac45ca7b0a5c7b44958af1e.xml b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/8d0365b3bac45ca7b0a5c7b44958af1e.xml
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..761e5a3acaa630b8a45e7be2ac2de5443711efde
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision.obj
@@ -0,0 +1,18825 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_0.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd3475869239e113b7d7284363fa5a16087e085
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_1.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec42101060b557928deee7e6113e5d583e5c267f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_10.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b97ffbcd7a926b1886adb007356765f6ae02df82
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_10.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_11.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7feb4d6832f3be9812a0b90e9243fe3965b53d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_11.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_12.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b9ada47a57e5852b4f1c678e3945da07b153b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_12.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_13.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..438f9da5c25e21e5475605e8893d1f2ea9a92dd8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_13.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_14.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..982cf66399685380684cf69bb8e92cc5cdda39aa
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+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_14.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_15.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d5aa7f2b8bf946828240fe71fef2adb9a7ccbcb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_15.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_16.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3edc7f5b846edb353e4e7732188c62ee54211bf6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_17.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28fcda2a7f8368aa9ab939c0b21fe4f0e9b530f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_17.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_18.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f024ed3544ca4799d80f8ae1ca2e87061b9da2c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_18.obj
@@ -0,0 +1,859 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_19.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b31eeb37a7bafba414af892403275f04818a6970
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_19.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_2.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e67278878de5f1ec6e437816e13e0eb5b848568d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_20.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3b44995d829eae78c1b5811e85c4816ed9b3c3d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_20.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_21.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28998de8a6ca4867c101acad8d2ceebd56b90ef1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_21.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_22.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ede311a4f493b2a9ba49cc065dc5345ae884255
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_22.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+v -0.02345984 -0.00060394 -0.11014363
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+
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_23.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5804cf3655edf72389b008d9bb5ca4f608ec457
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_23.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_24.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04af685c5071a760b93020c61aae38e16366717
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_24.obj
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+f 145 147 146
+f 145 150 157
+f 150 159 157
+f 153 155 154
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+f 156 160 158
+f 157 159 160
+
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_25.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e38b5c6a27011e6b925a5f2fe3d6aaa27a213464
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_25.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.02898429 -0.00060388 -0.12576650
+v -0.02897005 -0.00060380 -0.14687541
+v -0.02898429 -0.00283756 -0.12512794
+v -0.02898429 -0.00060394 -0.11015168
+v -0.02896436 -0.00060379 -0.14865054
+v -0.02898429 -0.02364259 -0.11015177
+v -0.02898429 -0.02057895 -0.11397514
+v -0.02898429 -0.02048161 -0.11408760
+v -0.02898429 -0.01469248 -0.11824830
+v -0.02898429 -0.01206431 -0.11997524
+v -0.02898429 -0.00816561 -0.12228452
+v -0.02898429 -0.00560149 -0.12365803
+v -0.02345984 -0.00060394 -0.11015168
+v -0.02658495 -0.00060379 -0.14985942
+v -0.02894729 -0.00116733 -0.14862243
+v -0.02830689 -0.02446485 -0.11015177
+v -0.02471216 -0.01174657 -0.14923292
+v -0.02049981 -0.01683638 -0.14940162
+v 0.00009233 -0.02248989 -0.11015176
+v 0.00009233 -0.00060390 -0.11975431
+v -0.02544933 -0.00816551 -0.14971083
+v -0.02671018 -0.00299629 -0.14963050
+v -0.02435355 -0.00060379 -0.15053814
+v -0.02164682 -0.00816551 -0.15102011
+v -0.02594456 -0.02677282 -0.11015178
+v -0.01879495 -0.01987440 -0.14605618
+v -0.02192290 -0.01322203 -0.15000003
+v -0.01717832 -0.01821450 -0.15010045
+v -0.01580930 -0.02126532 -0.14940164
+v 0.00009233 -0.02677282 -0.11015178
+v 0.00009233 -0.00060378 -0.15116064
+v -0.02164682 -0.00060378 -0.15114457
+v -0.02164682 -0.00331903 -0.15114458
+v -0.01682254 -0.01301197 -0.15114864
+v -0.00986647 -0.02524086 -0.14870284
+v -0.00234685 -0.02672913 -0.14605621
+v -0.02578802 -0.02677281 -0.11038472
+v -0.01199826 -0.01785331 -0.15115670
+v -0.01168518 -0.02280994 -0.14968278
+v 0.00009233 -0.02677275 -0.12689915
+v 0.00009233 -0.01785331 -0.15117678
+v -0.00022645 -0.00060378 -0.15116064
+v -0.01199826 -0.00060378 -0.15115261
+v -0.00717398 -0.01785331 -0.15116875
+v -0.00717398 -0.02559691 -0.14912855
+v -0.00234685 -0.02600932 -0.14956633
+v 0.00009233 -0.02602469 -0.14957838
+v 0.00009233 -0.02673425 -0.14605621
+v -0.01837656 -0.02677279 -0.11779855
+v -0.02094097 -0.02677279 -0.11577842
+v -0.02349969 -0.02677280 -0.11336069
+v -0.02527286 -0.02677281 -0.11111566
+v 0.00009233 -0.02269979 -0.15090771
+v -0.00234685 -0.02269979 -0.15089566
+v -0.00717398 -0.02269979 -0.15045387
+v -0.00234685 -0.02677275 -0.12696742
+v 0.00009233 -0.02030473 -0.15104424
+v 0.00009233 -0.02438786 -0.15023301
+v -0.00717967 -0.02677276 -0.12507983
+v -0.01188441 -0.02677277 -0.12235688
+v -0.01694208 -0.02677278 -0.11883070
+f 1 2 3
+f 1 3 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 4
+f 1 4 13
+f 1 13 20
+f 1 20 31
+f 1 31 42
+f 1 42 43
+f 1 43 32
+f 1 32 23
+f 1 23 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
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+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 4 6 16
+f 4 16 25
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+f 4 30 19
+f 4 19 13
+f 5 14 15
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+f 15 22 21
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+f 16 18 26
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+f 19 30 40
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+f 19 53 57
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+f 19 41 31
+f 19 31 20
+f 21 24 27
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+f 23 33 24
+f 24 28 27
+f 24 33 34
+f 24 34 28
+f 25 26 29
+f 25 29 35
+f 25 35 36
+f 25 36 37
+f 25 37 52
+f 25 52 51
+f 25 51 50
+f 25 50 49
+f 25 49 61
+f 25 61 60
+f 25 60 59
+f 25 59 56
+f 25 56 40
+f 25 40 30
+f 28 34 38
+f 28 38 39
+f 28 39 29
+f 29 39 35
+f 31 41 42
+f 32 43 41
+f 32 41 44
+f 32 44 33
+f 33 44 34
+f 34 44 38
+f 35 39 45
+f 35 45 36
+f 36 45 46
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 38 44 53
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 39 55 45
+f 40 56 48
+f 41 43 42
+f 41 57 44
+f 44 57 53
+f 45 55 46
+f 46 55 54
+f 46 54 47
+f 47 54 58
+f 48 56 59
+f 48 59 60
+f 48 60 61
+f 48 61 49
+f 53 58 54
+
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_26.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a44eda9dbfffca3a497af7ea494b1d5891fa48d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_26.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02924030 -0.02678085 -0.06882018
+v 0.01893017 -0.02678076 -0.09139210
+v 0.02924030 -0.02678072 -0.10477402
+v 0.02924030 -0.00060396 -0.10348410
+v 0.01893017 -0.00060392 -0.11419771
+v 0.01893017 -0.02678067 -0.11724502
+v 0.02854192 -0.02678071 -0.10594293
+v 0.01893017 -0.01949586 -0.14605643
+v 0.02058427 -0.01675928 -0.14940996
+v 0.02489159 -0.01169355 -0.14925678
+v 0.02924030 -0.02633231 -0.10556405
+v 0.02924030 -0.00060388 -0.12605602
+v 0.01893017 -0.00060378 -0.15116730
+v 0.02032591 -0.02678067 -0.11613254
+v 0.02789703 -0.02678071 -0.10693448
+v 0.02478361 -0.02678069 -0.11147305
+v 0.02149660 -0.02678068 -0.11508456
+v 0.01893017 -0.01745880 -0.14975660
+v 0.02756097 -0.02678071 -0.10745041
+v 0.02588163 -0.02678070 -0.10998169
+v 0.02202846 -0.01318996 -0.15002263
+v 0.02569594 -0.00816523 -0.14973239
+v 0.02916158 -0.00155698 -0.14874081
+v 0.02924030 -0.02536887 -0.10705539
+v 0.02920295 -0.00060379 -0.14879724
+v 0.02924030 -0.00244107 -0.12533857
+v 0.02178221 -0.00060378 -0.15116730
+v 0.02178221 -0.00331985 -0.15117536
+v 0.01893017 -0.00331985 -0.15116731
+v 0.01893017 -0.01307978 -0.15072397
+v 0.02178221 -0.00816523 -0.15105445
+v 0.02674148 -0.00060379 -0.15001451
+v 0.02690700 -0.00323018 -0.14971625
+v 0.02837237 -0.00060379 -0.14920837
+v 0.02924030 -0.02449767 -0.10822429
+v 0.02924030 -0.00331995 -0.12497581
+v 0.02924030 -0.00775023 -0.12275894
+v 0.02924030 -0.01204983 -0.11992133
+v 0.02924030 -0.01466854 -0.11818009
+v 0.02924030 -0.01628537 -0.11693864
+v 0.02924030 -0.01960104 -0.11418165
+v 0.02924030 -0.02011350 -0.11372215
+v 0.02924030 -0.02056960 -0.11319011
+v 0.01893017 -0.00816522 -0.15112701
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+f 1 15 7
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+f 18 30 21
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+f 22 33 23
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+f 23 34 25
+f 24 25 35
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+f 25 41 42
+f 25 42 43
+f 25 43 35
+f 27 32 28
+f 28 32 31
+f 28 31 44
+f 28 44 29
+f 30 44 31
+
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_27.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd29105d3d311b331bab04428248bb22133b9a8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_27.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00009233 -0.01785619 -0.15117255
+v 0.00009233 -0.01493667 -0.15116668
+v 0.00248025 -0.01785619 -0.15117841
+v 0.00009233 -0.02030497 -0.15104378
+v 0.00439796 -0.01493667 -0.15117253
+v 0.00009233 -0.01493680 -0.11600467
+v 0.00730588 -0.01785619 -0.15118427
+v 0.00248025 -0.02270042 -0.15091502
+v 0.00009233 -0.02270042 -0.15090330
+v 0.01212967 -0.01493667 -0.15117253
+v 0.00009233 -0.02678072 -0.10449673
+v 0.01893017 -0.02678076 -0.09139072
+v 0.01892648 -0.01493683 -0.10872876
+v 0.01212967 -0.01785619 -0.15116670
+v 0.00730588 -0.02270042 -0.15044674
+v 0.00248025 -0.02603850 -0.14958629
+v 0.00009233 -0.02438743 -0.15023602
+v 0.01706962 -0.01493668 -0.15077450
+v 0.00009233 -0.02678063 -0.12685713
+v 0.01893017 -0.01494030 -0.10872876
+v 0.01893017 -0.02678067 -0.11725152
+v 0.01893017 -0.01493681 -0.11315986
+v 0.01725955 -0.01816809 -0.15010723
+v 0.01585445 -0.02124877 -0.14939310
+v 0.01176641 -0.02279897 -0.14965652
+v 0.00730588 -0.02559675 -0.14911215
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+v 0.00248025 -0.02673998 -0.14605663
+v 0.00009233 -0.02673419 -0.14605663
+v 0.01893017 -0.01493668 -0.15024768
+v 0.00222025 -0.02678063 -0.12679859
+v 0.01705487 -0.02678066 -0.11875001
+v 0.00991508 -0.02520485 -0.14864971
+v 0.01874578 -0.01969047 -0.14605660
+v 0.01893017 -0.01949800 -0.14605660
+v 0.01893017 -0.01746198 -0.14975600
+v 0.01146031 -0.02678065 -0.12242602
+v 0.00971040 -0.02678065 -0.12356160
+v 0.00724687 -0.02678064 -0.12489620
+v 0.00248025 -0.02678063 -0.12678688
+f 1 2 3
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+f 1 19 11
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+f 1 6 2
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+f 21 33 24
+f 21 24 34
+f 21 34 35
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+f 23 36 24
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+f 24 36 35
+f 24 35 34
+f 25 33 26
+f 26 33 28
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 31
+f 28 32 37
+
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_28.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9224605b1ba2df4517ee18ec3dd3dbe6559e096a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_28.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00009233 -0.01493551 -0.15116652
+v 0.00009233 -0.00576915 -0.15116233
+v 0.00248025 -0.01493551 -0.15117068
+v 0.00009233 -0.01493564 -0.11600450
+v 0.00009233 -0.00060518 -0.15115815
+v 0.00248025 -0.00060518 -0.15116231
+v 0.00730588 -0.01493551 -0.15117482
+v 0.01892648 -0.01493567 -0.10872860
+v 0.00009233 -0.00060530 -0.11975667
+v 0.00730588 -0.00060518 -0.15116647
+v 0.01695529 -0.01300937 -0.15117898
+v 0.01212967 -0.01493551 -0.15117068
+v 0.01893017 -0.01493565 -0.11315813
+v 0.01893017 -0.01232211 -0.11045720
+v 0.01893017 -0.00060532 -0.11420105
+v 0.01893017 -0.00171485 -0.15117064
+v 0.01212967 -0.00331974 -0.15117064
+v 0.01893017 -0.00060518 -0.15116647
+v 0.01893017 -0.00331974 -0.15117064
+v 0.01893017 -0.00816385 -0.15112910
+v 0.01893017 -0.01307952 -0.15073020
+v 0.01706962 -0.01493552 -0.15077592
+v 0.01893017 -0.01493552 -0.15024819
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 22
+f 1 22 23
+f 1 23 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
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+f 11 22 12
+f 13 23 21
+f 13 21 20
+f 13 20 19
+f 13 19 16
+f 13 16 18
+f 13 18 15
+f 13 15 14
+f 21 23 22
+
diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_29.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49e46f59c82d78a8754ca6d834d6f96ed6c1c829
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_29.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.02051300 0.02318240 -0.10206817
+v 0.02051300 0.03184302 -0.08311071
+v 0.00015643 0.03806702 -0.08311069
+v 0.00015643 0.03169945 -0.10206814
+v 0.02051300 0.03826362 -0.10206812
+v 0.02051300 0.04455811 -0.08311067
+v 0.00015643 0.04892247 -0.08311065
+v 0.00015643 0.04380222 -0.10206810
+v 0.02029180 0.03842237 -0.10206812
+v 0.02051300 0.03852065 -0.10151699
+v 0.02051300 0.04376690 -0.08625787
+v 0.01799807 0.04561392 -0.08311066
+v 0.00118273 0.04891995 -0.08311065
+v 0.00015643 0.04812621 -0.08654177
+v 0.00015643 0.04398869 -0.10151697
+v 0.00248005 0.04379466 -0.10206810
+v 0.01748592 0.03986372 -0.10206811
+v 0.01695583 0.04035257 -0.10151698
+v 0.02048510 0.03853828 -0.10151699
+v 0.02051300 0.03855340 -0.10143720
+v 0.02051300 0.04366106 -0.08667168
+v 0.01672466 0.04613805 -0.08311066
+v 0.01695583 0.04512761 -0.08667167
+v 0.00248005 0.04891491 -0.08311065
+v 0.00248005 0.04812118 -0.08652321
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_3.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63bea0977332ca0234aa3913a855c13b58d2c813
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_30.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbacc7e323ab28c3351127b3b438503a681e5262
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_30.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_4.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a23808d8b1ff5f1a2aa55d2c323324c31906d0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_4.obj
@@ -0,0 +1,787 @@
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_5.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3215e647bd8c7a2446d84eb25006d379e7a19e4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_6.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5e086eedf5ee14c8c7e6ddb83a604efb983c918
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_7.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c947ad5708e94c3d95630192b0ceb4d2866b4f55
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_7.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_8.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf655b4d417cdf0940739070e2753d51f9bd170e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_8.obj
@@ -0,0 +1,766 @@
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diff --git a/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_9.obj b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec09b0e0fb3917efde546d731fafee14993d2b78
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/mjcf/mesh/vase_2_collision_9.obj
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