diff --git a/.gitattributes b/.gitattributes
index 8b2450dd20eb08f1661eee839879494c7d427ce2..72b5077100c4f463ba486ae96537ede5150dcc4a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4904,3 +4904,5 @@ dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/mesh/wate
dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/watering_can_024.usd filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/diffuser_bottle_029.usd filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/diffuser_bottle_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/diffuser_bottle_006.urdf b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/diffuser_bottle_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..81da18cdfc92286a4239306a89614f16950da1d0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/diffuser_bottle_006.urdf
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/diffuser_bottle_006.usd b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/diffuser_bottle_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8706590eb85ae9e8c4e40f985ba2cd8879993b92
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/diffuser_bottle_006.usd
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.glb b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.glb
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.mtl b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..16d9a73b6e4cdbdda0c916e20a84a04976d93ee7
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+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c50670da027c5384df0c1005a8149270bd3bffa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006_collision.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb91a0bf00e4d63f7b3a82e37ddc6cd50fdcb285
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c335c3a25426dbfd41f427e13d403568942afc45
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/diffuser_bottle_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0880d0b174fcdb7e0ec75e6991de4046ee23351a30a97bb48159b2b8903350d9
+size 10765939
diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..545a417229f65faa24d207d8573582c2604b55f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c335c3a25426dbfd41f427e13d403568942afc45
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0880d0b174fcdb7e0ec75e6991de4046ee23351a30a97bb48159b2b8903350d9
+size 10765939
diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/diffuser_bottle_006.xml b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/diffuser_bottle_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9e1ded17ebd02ce5c86bf0fd73a0af034d4a8d9b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/diffuser_bottle_006.xml
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5f035fb1c382b03cb8d8d2687626584114df0b4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006.obj
@@ -0,0 +1,111552 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17fc551bf8a84a028d01877cc95c68075415517b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision.obj
@@ -0,0 +1,14173 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_0.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20857bf504fedaa95496decf431cca58cf9bfe24
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_1.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043151011fa0bdc28ce9ad493c089c0ab3bd75ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_10.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c09e4301b75bd09ee8901c07d5b2a6767e372184
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_10.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_11.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d19f1960485e99fcdea72b61f8bd796ecb2ff3b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_11.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_12.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e54438f8a60f5847891f7ec6b3d90596ec9b7a7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_12.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_13.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..342282d512bdd7550160ed3000b2caaf5d4fb5e2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_13.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_14.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed11b4dba4c19266ce0c0ec5ebb4bb207ce1ac82
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_14.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_15.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..465f5d3f2976c5b20be0ba47802009348b2729fc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_15.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_16.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eaa1c55cafa1f55d3d296c408407ee85d270e6a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_17.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82356802ff6e8c2e5717e3d3523343d84eb68ee4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_17.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_18.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0ecba0a8cd5b3b4317d44c9880d734a715327c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_18.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_19.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d72417c2c4b7a9514afa628b0f6c4b907ae8fc2b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_19.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_2.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c027cf75693ec314a56597eea54ff6a3073551c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_20.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44959141285118abd9873a6f9ce68b68c722e4ea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_20.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_21.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c506fe2cea7c14d7c753f1bd71f9eb32ed404345
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_21.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
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+v -0.03071501 0.02516351 0.01369305
+v -0.03071501 0.00246407 0.01284423
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+v -0.00092838 0.02515258 -0.03554384
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+f 2 6 7
+f 2 7 3
+f 3 7 8
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+f 6 9 8
+f 6 8 7
+
diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_22.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e31c23e8988938d45f05374041fdde1976a2030b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_22.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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+v -0.00012254 -0.05586806 0.00748339
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_23.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b551fc9ed1090ee0c2f5abe3732a8f690af77513
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_23.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_24.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5a4d077bd9de8b95f02a1f2d3a352380a65e19
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_24.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_25.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d891d59be9c3e62b417f463750e49c4da58a068
--- /dev/null
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_26.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa072a1a5545505ed56ae0e29a464d5f03d57bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_26.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_27.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd4d22e4a24831ce713cd3b4786400daf296f5f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_27.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.03024904 -0.02408773 0.01369698
+v 0.03024904 -0.00016729 0.01296130
+v -0.00092547 -0.02408773 0.01225506
+v 0.03024904 -0.02408755 -0.03675027
+v -0.00092241 -0.00016728 0.01080830
+v -0.00092547 -0.00016962 0.01080830
+v 0.03024904 -0.00016711 -0.03586627
+v -0.00092547 -0.02408755 -0.03550588
+v -0.00092547 -0.00016711 -0.03514531
+v -0.00092547 -0.00016728 0.01073917
+f 1 2 3
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+f 2 9 10
+f 2 10 5
+f 3 6 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 7
+f 5 10 6
+
diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_28.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2f75fe3d82bc57c76d1ec5d493039438cfa8b4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_28.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
+v 0.05457492 -0.00016727 0.00748310
+v 0.05428442 -0.00016727 0.00928664
+v 0.05456539 -0.00119283 0.00748310
+v 0.05369627 -0.00039423 -0.03502586
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_29.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5786458dd0b3b0fa254b410cce6a9504c567ef
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_29.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_3.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a0519361da7daabf10b78ee6d4c4a5a1587ea2f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_30.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32ee181aad219b71785a6178fc3d0867709bd78c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_31.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27e2a84bb52ce82883417ba6d3f4b37c78aa4d10
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_31.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_4.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f38f3ba090c50259b97f68a4027ec83e7ca91e2c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_4.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_5.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1143361fb70d15d50836a27d255338397cf110b0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_6.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa0c7d880bce26ed2917bf8ec87678c566fb66a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_6.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_7.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abce33244112904099204b0acb7801235a11a3b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_7.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_8.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6928dc0389600e394ecc66cfd9761f75c9ff1e24
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_8.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_9.obj b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ff521ed0b69b4fa888c924a516ce6abe0041fb8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2daf216ed32159d6b0bb6079b345bd3f/mjcf/mesh/diffuser_bottle_006_collision_9.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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