diff --git a/.gitattributes b/.gitattributes
index 4cec3764b67ce2eec1d4c15da7f0dbfcea325698..0d3144947af90b35ea27973df97881ea31b9cdab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4982,5 +4982,4 @@ dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/cand
 dataset/livingroom_supplies/ornaments/9b29e9dfe396551899f43c09ed9b0e58/9b29e9dfe396551899f43c09ed9b0e58.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/9aef7ed73af55f539aa5f9a5d101d6ad/mesh/watering_can_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/9aef7ed73af55f539aa5f9a5d101d6ad/watering_can_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/diffuser_bottle_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/mesh/diffuser_bottle_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/900432e954d25707b8c0be696b7157a7.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/900432e954d25707b8c0be696b7157a7.urdf b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/900432e954d25707b8c0be696b7157a7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..58461a20c77cd282ab1c5c60613c780e5ba16d3b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/900432e954d25707b8c0be696b7157a7.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_5">
+   <link name="vase_5">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/vase_5.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_5_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>smooth blue vase with a rounded base and flared top</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>1.2</max_mass>
+         <generate_time>20251016174134</generate_time>
+         <gs_model>mesh/vase_5_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.945188760757446</ImageAestheticChecker>
+         <overall>YES</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/900432e954d25707b8c0be696b7157a7/900432e954d25707b8c0be696b7157a7.usd b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/900432e954d25707b8c0be696b7157a7.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ee25ebab56215bbf385431de9ab93c5d8f9ebcf5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/900432e954d25707b8c0be696b7157a7.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f58f7596ce9ba6a1373d4e5a3d5caf9a61c47a513fbf6e17beb093088c6c92
+size 373571
diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/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/900432e954d25707b8c0be696b7157a7/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b136da8b73d73f40cb476065bba24efba52d89c7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cd335c2520107d29d1410aaf1402d0300a1f901d752db915046f72d70fc8624
+size 693074
diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/vase_5.glb b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/vase_5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..84cecda829099d76591f6323db9061d8af36dd3e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/vase_5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32cb117c9e55713e284cb9c11d5ef72726926525032c5c455781d8955f28615f
+size 943660
diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/vase_5.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/vase_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d31a3f58a3035081e66a98e24dbb3e6fed71428d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/vase_5.obj
@@ -0,0 +1,22814 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/vase_5_collision.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/vase_5_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3746945243ce121c90e97dbf11a9de62c48a205e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mesh/vase_5_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..155598372ce9aed2a7a04537230810f27fe6348d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09e5e3ec28d76b629bc3a71d5a5b71ccd9993ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_0.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8ba4204a4416d81aef2969fc70226b8ae435e84
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_0.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_1.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e316e07c05db3b35bb57154c5e90e6f116bee16
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_1.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_10.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49fbf2eac0c57ff8d873825dd95cd1ca59814dab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_10.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_11.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6d0c7a6c051387d03ae6903b8848590a9b47da7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_11.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_12.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dbff9e76e5283a52089a59cddd788f44a44b997
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_12.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_13.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..796f57d123f32a896cc26fa89b9976260a558e4b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_13.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_14.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4061970d48bb940f08112cf2db49f2ff922ed8cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_14.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_15.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fd28dd159d3a003de952e084776d1df05fc62fe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_15.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_16.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93f0b207f0f2b546e2333fa576dbf496ab3282c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_16.obj
@@ -0,0 +1,1630 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_17.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbe7c2ac60d8a9860d5bb508ff1bd03ad145c0d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_17.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_18.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69017d5fd3e14f7d47b084670f6fa0c9f308fff4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_18.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_19.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f869125f121ddfa5e60302a6d774a993df5c6b59
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_19.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_2.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62452615e8e14486e338a2803e5ca7d43e94abdc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_20.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b85b79b279414f1f533f5c44b40e707f3961e25
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_20.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_21.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3264e674b2d0933e63ae4df824722b067060bd07
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_21.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_22.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..937278a2d25edb671da87ad7522ee1b12e6fe193
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_22.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_23.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471d8733b10156606b98fb1bc3989125ccd8ab44
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_23.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_24.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14bd3f9e091e0544a36b378f3bd96d95244cdae0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_24.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_25.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d3fe019a72300abea7d96b15bf6c47f81d39f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_25.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_26.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b271327359dcad9ef27732509ea8ede1467da36
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_26.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_27.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793d616f4bd9e0d8a0469c7bfcbf0b04c197b6cd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_27.obj
@@ -0,0 +1,760 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_28.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c60f0c31de71a9db3a33831ef6d50884aab49b6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_28.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_29.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a87d25be618c4f580d9907fbfcda774445dc23
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_29.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_3.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3fdfcb1f9b0d843e432f1ab6afa6f19745a71b2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_3.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_30.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6e581dd0ea69370b99cff9a65e4c8e34c2deb18
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_30.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_31.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3065c4281047f5cfa2824e33d8cda0de3a8ff312
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_31.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_32.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dacaa8602eb2714ccf0a0b8df3f328ae12035039
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_32.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_33.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d128fe988b23836518881d47568175414730ac7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_33.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_34.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa95ffe5b1423053a2c93a351758f781e319dc90
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_34.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_35.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..567fc340be482020783f818ca4f9eec872938786
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_35.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_36.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7bc9bb4618f1bcf9d8171d18b4c8b97ffce2ed4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_36.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_37.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..171e74768a432ec7b0b77721838c6f2c77abf044
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_37.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_38.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25102a81413ec31fb3d691647cee87e9b82ea728
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_38.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_39.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5b43ce946312196a36425c8643fd0a4e0868ca1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_39.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_4.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb46ebf73e465dd501de583b7e11a41bfe088c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_4.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_40.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53500802cd280e24fb9a898132c6e51ad6016a1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_40.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_41.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e71c78bdf571cec53ea5ffc16d4c9f04734c6a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_41.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_42.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc85956187e971d8b1cbc55c31710102e7d4f1af
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_42.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_43.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dff4c9b8266614da499c5d2bdb669b63ce68b22
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_43.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_44.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378b11e90a5e410ce18091836aacd782a80b10e6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_44.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_45.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c46098a93aa1eab1f7c7b126a4a5e717d8e0eeb5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_45.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_46.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e760e2b0d8e47b0e042a735875bd81b7b08d2d94
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_46.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_47.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59214a3b5c3e1dc06400e24927e9c0e40e358c27
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_47.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_48.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff082ea1eb4fec483e1e60b2da369be0a35d72e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_48.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_49.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3654f9eb306e9873e1465bfa8d07ce2117fc5ede
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_49.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_5.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d73d036d664e82dc92e1b2e80257ac52cfdc8116
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_5.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_50.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0117982df55988bab8c1cfb3c128d176432d505
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_50.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_51.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fb4858030c0818cf7aabc992b97f5289f1e7cb8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_51.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_52.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9acd146af475adb9d2f87b0f681b2957e369d946
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_52.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_53.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9bd398c5dde0a95cde5917490fa845edc8002ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_53.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_54.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8536dc27411c2365b92a03e8f5496211ad3b9a69
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_54.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_55.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988f9919137e95b85e91719c48825218825889b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_55.obj
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_56.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..933faa8c99efd1ac379d1aa7db8295f12d37d768
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_56.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_6.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df8e13cf3397ff3d07ee689d9734c1cd5214a492
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_6.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_7.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db6db5e5f297f148a436eac5b84be9f5a0fc4c5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_7.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_8.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5d4ef5bc59cfb58a9756ba16fcaf6d36e7a30e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_8.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_9.obj b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b8fec14630dfe0ee8c75c1dc8ec8e16e919181
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/900432e954d25707b8c0be696b7157a7/mjcf/mesh/vase_5_collision_9.obj
@@ -0,0 +1,325 @@
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