diff --git a/.gitattributes b/.gitattributes
index 21d4fec13e9e3de1790d22691d136f74d3b27ac2..f0423c5c0c96d9bb64f6a04f0e158d98034f684f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4985,4 +4985,7 @@ dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/wate
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dataset/livingroom_supplies/ornaments/aa70004706f6572b98b705705eddbec3/aa70004706f6572b98b705705eddbec3.usd filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/b370ca6a6b1658bd959d46c7d90df1e8/b370ca6a6b1658bd959d46c7d90df1e8.usd filter=lfs diff=lfs merge=lfs -text
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+dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/diffuser_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/diffuser_bottle_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/diffuser_bottle_012.urdf b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/diffuser_bottle_012.urdf
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012.mtl b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012.mtl
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012.obj b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..790b734040f292772826bbce86a08fe60507c268
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012_collision.obj b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdd58e5719c87429b3973d0f7839476c2f5c2482
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1b967c1e30329c9cb7ef51bf1124ac1bcfaeb3e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/diffuser_bottle_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:026b298ad5cc365a13fd2597998077bfd3324de354213bf8f04558c0a6f5caa1
+size 10105654
diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..719e5063d5ca212458300ac3eb7774123b73b4a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_012_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd diffuser_bottle_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1b967c1e30329c9cb7ef51bf1124ac1bcfaeb3e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:026b298ad5cc365a13fd2597998077bfd3324de354213bf8f04558c0a6f5caa1
+size 10105654
diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/diffuser_bottle_012.xml b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/diffuser_bottle_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..27dd253b824e7eeeeeeb292dfb2b22d7417eede3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/diffuser_bottle_012.xml
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012.obj b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a239806ef7fcb34e649c09b2128dbab65d84edbc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012.obj
@@ -0,0 +1,105984 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_012_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision.obj b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de6f89f7043731bdbacb48f21ddc2b6a26410db7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision.obj
@@ -0,0 +1,27138 @@
+# https://github.com/mikedh/trimesh
+
+o diffuser_bottle_012_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_0.obj b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e472c2862185b0f889d0e2d884f046a51b246e20
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_1.obj b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf124fe844c1465449bd50542a44aedebe9593b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_2.obj b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e516d2081df870d7784ad72fba25545d21f7e4b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_3.obj b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d19cd205573eee7c0c5b38c3a9b7efbef457a6a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/mjcf/mesh/diffuser_bottle_012_collision_3.obj
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