diff --git a/.gitattributes b/.gitattributes
index 281b200aa99e60946f774062270233883e2c2450..078e42853753002cbab2cd03228ac91857d5afe9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4941,9 +4941,5 @@ dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh
 dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/photo_frame_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/59a82f9d9134500c8756d472693ea1e0/59a82f9d9134500c8756d472693ea1e0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/photo_frame_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5e2d0faa4a9b5339b5b95c08220cd082/mesh/watering_can_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5e2d0faa4a9b5339b5b95c08220cd082/mesh/watering_can_007.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5e2d0faa4a9b5339b5b95c08220cd082/mjcf/mesh/watering_can_007.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5e2d0faa4a9b5339b5b95c08220cd082/watering_can_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/candle_holder_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/candle_holder_030.urdf b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/candle_holder_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..918367ee16a25c6bd63493484a8d4df7220cda21
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/candle_holder_030.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="candle_holder_030">
+   <link name="candle_holder_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/candle_holder_030.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/candle_holder_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>5d123bd0fcb358e681e0961b4472f58b</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>candle_holder</category>
+         <name>blue candle holder</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>tapered cylindrical candle holder with round base and side emblem</description>
+         <min_height>0.1569</min_height>
+         <max_height>0.1569</max_height>
+         <real_height>0.1569</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609202613</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.069204 -0.069418 -0.070019</min>
+            <max>0.069207 0.069338 0.086920</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/candle_holder_030.usd b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/candle_holder_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6c39a1d9b88e67d00a2eecc9bc7590a3d2a2bfb9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/candle_holder_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03628f2674b2a50b663e489c8d9b1c5f2eda8432cd29e3bed152aec522ba2abd
+size 4771688
diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.glb b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b328d5ca3fbbd9efa305b6f6999e49b2bb825ecb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12839188
diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.mtl b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a737731308eefd6f78551b13c714a770c23a259c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.mtl
@@ -0,0 +1,6 @@
+newmtl candle_holder_030_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebe45ba698fb7d8aa7c6b38d45b4bb67f4388789
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.obj
@@ -0,0 +1,110316 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_030_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030_collision.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe663db7c14d8f6906117734ae07d6add59ab2db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030_collision.obj
@@ -0,0 +1,15051 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..85638c8ccc87b349055cfe15dd6ae32cf92d4771
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5465eae89f826dc58da1ca28785575820443336f2874710bc2ba7083843aa74
+size 9711615
diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01ad6f2147794d541f279286b3b630aae9c0e3f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl candle_holder_030_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd candle_holder_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/candle_holder_030.xml b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/candle_holder_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..99bd7332eb3611cfea67fce8d7ff34276c5709ae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/candle_holder_030.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="candle_holder_030">
+  <asset>
+    <material name="material_0" texture="texture_0_candle_holder_030_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_candle_holder_030_geometry_Looks_material_0" type="2d" file="mesh/candle_holder_030_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/candle_holder_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/candle_holder_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/candle_holder_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/candle_holder_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/candle_holder_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/candle_holder_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/candle_holder_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/candle_holder_030_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/candle_holder_030_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/candle_holder_030_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/candle_holder_030_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/candle_holder_030_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/candle_holder_030_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/candle_holder_030_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/candle_holder_030_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/candle_holder_030_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/candle_holder_030_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/candle_holder_030_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/candle_holder_030_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/candle_holder_030_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/candle_holder_030_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/candle_holder_030_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/candle_holder_030_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/candle_holder_030_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/candle_holder_030_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/candle_holder_030_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="candle_holder_030">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6f5c4bcdb49bcf5787c08c44f4e36c1f526eecd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030.obj
@@ -0,0 +1,110316 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_030_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af29513006c9f812b9ea8a2d8f4a7b079eba98a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision.obj
@@ -0,0 +1,15051 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_0.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b07958092251c6c2558cb9aac73c00e2d0275856
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_1.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c3d84b602d2fced0ff38209d8802b529373340
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_1.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_10.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa080aefe5b67f3084c5e0e2911fa979076c3ae6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_10.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_11.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b98ee42c07a7c3988f9e20ae5c73767c00fd5007
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_11.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_12.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..927ab75e4091ed7e44c5a4eb28d9b47f7d456b39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_12.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_13.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb4b791df235a1060b9c310aa98bc8ea6334802
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_13.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_14.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..457bb7aa2457e94849c0d70e90f4ad6eed8f4244
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_14.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_15.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dae34593334e4cc57c167f509f043613d1293f8e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_15.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_16.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40bd96406903a4950fe1968ce813be7af23a5e68
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_16.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_17.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53907bac1ecf8ed27245e50b4a07983d7d055a26
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_17.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_18.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..145ed8c4997196627496e5f35aba3050bdd2c38c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_18.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_19.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d61fb6ae2e851965c822172927f9238e3fd16fcf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_19.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_2.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57479e00b74a7ec318b224159e1c6892e184a65d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_2.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_20.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fe89d7af855b0ada343c9a3dc5377c21da195db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_20.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_21.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beb2e9d185874299b3e1b13a50ef1b94fec4dc76
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_21.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_22.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e19aed78d7b91d17ede4df9c9f930a8a391c9e9d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_22.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_23.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26c7ada2c1bd54c4717d1b76942757f3a2c9e239
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_23.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_24.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d44702273001faa3dd405522d8d6611ed4fa0f31
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_24.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_3.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d8ae756555a4c2d8af809afb701561b38b7b4b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_3.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_4.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3773a5a6eba321b9110db9611c8a80734299b472
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_4.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_5.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d872add8a5d9a8681e6a37e955445f854ff39bc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_5.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02027459 -0.00525667 0.06459890
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_6.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b0f9c5cb6f62694707c32dcff81a84de96c1433
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_6.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01458416 0.01843447 0.06459447
+v -0.04140765 0.01843447 0.06462715
+v -0.01458416 -0.00525435 0.06459438
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+
diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_7.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4e77a148386af7c7e84eaed6316b917d19781d2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_7.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v -0.00128718 0.06227800 0.07713115
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_8.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d3f87484935d2e552897f8ee4f204155cad54b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_8.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_9.obj b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43e25a286748e64f0da451032f6ee1fd4f9e020b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mjcf/mesh/candle_holder_030_collision_9.obj
@@ -0,0 +1,163 @@
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