diff --git a/.gitattributes b/.gitattributes
index ba363d20276c36918e2bb62cd712b4e9e59e66ce..70b0a1dc326c773e1f7f1f02be753ff422cc6318 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5046,3 +5046,4 @@ dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/photo_fra
 dataset/livingroom_supplies/ornaments/f20a783002a05c0f80179236f21b8564/f20a783002a05c0f80179236f21b8564.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/f3db143e193059b9ae30e58bbadd30c2/diffuser_bottle_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/f3db143e193059b9ae30e58bbadd30c2/mesh/diffuser_bottle_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/f821a09f0212562d9c8f918d99b903c0.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/f821a09f0212562d9c8f918d99b903c0.urdf b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/f821a09f0212562d9c8f918d99b903c0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c1dc2f75d3f1f2a59921a2d367f651e5d909c058
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/f821a09f0212562d9c8f918d99b903c0.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="watering_can_38">
+   <link name="watering_can_38">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/watering_can_38.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/watering_can_38_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>0.470462</scale>
+         <version>v0.1.5</version>
+         <category>watering_can</category>
+         <description>black metallic watering can with spout and curved handle</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>20251016204040</generate_time>
+         <gs_model>mesh/watering_can_38_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.873665928840637</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</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/f821a09f0212562d9c8f918d99b903c0/f821a09f0212562d9c8f918d99b903c0.usd b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/f821a09f0212562d9c8f918d99b903c0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..06e0c4a45f5a87ea27fe721a7194cbb54392a6ae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/f821a09f0212562d9c8f918d99b903c0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b980519c967df97a213f6b43baff8b6882296fbd82545ada4a6acc1745374d79
+size 249338
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/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/f821a09f0212562d9c8f918d99b903c0/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a7eb68486d7ef969a80c48efc3d0856b40e62a7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2d14bf8abe0510d1f3eaa4babeb1c6c5a638e1c2e3e9dc137931cb09b12b45
+size 502471
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38.glb b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c564f264edc7b82c8d2f7398c945e0b5a9ab142f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dafe21aa2e192ccd072192412c677f08ecc29d54fbbcb48909d60c0117a1fc55
+size 674220
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d0094bc357dec9baf481197784f521d8da1037b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38.obj
@@ -0,0 +1,15660 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38_collision.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f9538a79658af4b64bd9483f826e92b63b5e3f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38_collision.obj
@@ -0,0 +1,13271 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38_gs.ply b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mesh/watering_can_38_gs.ply
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38.obj
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47385043a7a033412bffb34e9c15f906479d8476
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision.obj
@@ -0,0 +1,13271 @@
+# https://github.com/mikedh/trimesh
+
+o watering_can_38_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_0.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b559c5a01f3af643a07376b7f3c7658de7671b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_0.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_1.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47e1dbf27a36b5a383a270f8667c1d2c64e5b876
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_1.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_10.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f57d8e00b352dd5222d90cffcb99c743df9c39b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_10.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_11.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c06cbda33df1176ccc477f82ea2eb1f92f7bb0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_11.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_12.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea23933f15b96e4d77e769c321149323cd6a3156
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_12.obj
@@ -0,0 +1,739 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_13.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3630fb10c09c65828477a48ec7eddc602288d1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_13.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_14.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c6135a4a6a57ee0a9e4bad635c05d0ccd7a9b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_14.obj
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_15.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02ce0ec32ed5af51d59a23938cb57fdfdb10294a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_15.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_16.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e921b4f5918036ae1345ce94405a5fb8143acffa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_16.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_17.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5c906b797da6ace49c15611802b89167b614b86
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_17.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01967892 -0.12179719 0.12700395
+v -0.01967892 -0.12170482 0.12849273
+v -0.04619878 -0.10885632 0.13444792
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+v -0.03433039 -0.11044551 0.00642547
+v -0.02706462 -0.11297827 0.00642547
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+v -0.01967892 -0.11471863 0.00642546
+v -0.01967892 -0.12101454 0.13463073
+v -0.04107924 -0.10990639 0.13903182
+v -0.05544123 -0.10203101 0.13894043
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+v -0.05350176 -0.10081033 0.00642551
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+v -0.01967892 -0.10232220 0.00642550
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+
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_18.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8dcd05ae32635b7a310dca3359a849aaebe262
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_18.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02747292 0.16341629 0.10604492
+v 0.02634373 0.16272404 0.10604492
+v 0.01113923 0.15256850 0.08883183
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+v 0.01960964 0.23141083 0.08883212
+v 0.02696552 0.22961914 0.08883211
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+
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_19.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c134c9cfcdf2389177f265e6054f1c8966c54db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.03477918 0.08626199 -0.08729740
+v 0.03477918 0.07113673 -0.08729746
+v 0.03477918 0.08615809 -0.08514371
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_2.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..734a3957e58cf72a8fc49f10be6a3e4ecf0ae2f5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_2.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_20.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23504b45bea08a852437192bc1eb93330bec21b6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_20.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_21.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0afcb2f7e855c83f732746ff1192affe2a7669
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_21.obj
@@ -0,0 +1,88 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_22.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4352157494c4e2b6bcb37ab094ebaf42da1487b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_22.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_23.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24758fb1c8b9a041ddc724df2353f234fc9f676
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_23.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_24.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627a52b57a7616b992dcf0278c1301777c8cca6c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_24.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_25.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05824ea7e5ba32a2bdbef929982608879f71ed67
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_25.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_26.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e782874eb964c6ff62d0cdf39180f0b3b555fe2a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_26.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_27.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ced956eba973778b39c3032da5cbc8b0c8fa6c93
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_27.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_28.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f8382d27b5393ffe180e8071ccda8dc54b3a9a0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_28.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_29.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3616506325364559e4abbdae65c29308df18ef1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_29.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_3.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e88ea1cb52c84fa2a1ce36f600d6e5eddeafa32a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_3.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_30.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bcf7a233838464604114dfe50857eeac852142a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_30.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_31.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49b47bc4e22ba0a3b65bc917ba72a9e74afb1c36
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_31.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_32.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e40e8948b7a3fd70f7276ad07f10ce1d520c440
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_32.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_33.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81e21e75af79e5db0d79a5261368b32f0d077b0c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_33.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_34.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524eb7e4f1ad8d467c15821c74cd7b9dde6d4f5a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_34.obj
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_35.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51d6fb0e4d7280a59970b4718f2ed73ab6a6c1c2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_35.obj
@@ -0,0 +1,193 @@
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+
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_36.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a21529cde70494a4bf8f498af90d629af07ea31f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_36.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03143897 -0.11467843 -0.05591442
+v 0.03143897 -0.10157970 -0.05591437
+v 0.03033853 -0.11500408 -0.05591442
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+v 0.03143897 -0.11506619 -0.06290701
+v 0.03143897 -0.10220308 -0.07277218
+v -0.03469117 -0.10041851 -0.05591437
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+v 0.02766510 -0.11595745 -0.05886078
+v 0.02921867 -0.11631732 -0.07432376
+v 0.03143897 -0.11548821 -0.07118998
+v 0.03143897 -0.11525471 -0.06659379
+v 0.01409729 -0.12099417 -0.08729816
+v 0.03143897 -0.10250514 -0.08008737
+v -0.03469117 -0.10114901 -0.07432370
+v -0.03469117 -0.11382789 -0.05591442
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+v -0.03469117 -0.10174670 -0.08723972
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+v -0.02760950 -0.11607743 -0.05591443
+v -0.03469117 -0.11398857 -0.05886077
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+v -0.03469117 -0.11434847 -0.06659379
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+v -0.03469117 -0.11511966 -0.08729814
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+v -0.01934323 -0.11953304 -0.08729816
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+v -0.00254529 -0.12229890 -0.08729817
+v -0.00868188 -0.11917108 -0.05591444
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+
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_37.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d7531a93ff61c4b93b951b4d7f73c4a36d4685
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_37.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.10573760 -0.01833384 -0.10260517
+v 0.08905700 -0.01833384 -0.10260517
+v 0.10493745 -0.01833389 -0.08945659
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+v 0.10494599 -0.01937846 -0.08979066
+v 0.10572051 -0.01937841 -0.10260517
+v 0.07664765 -0.06398506 -0.10260534
+v 0.07664765 -0.06513078 -0.08730103
+v 0.09136632 -0.01833390 -0.08730086
+v 0.10480362 -0.01833390 -0.08730086
+v 0.10395792 -0.02716897 -0.08730089
+v 0.10517664 -0.02450019 -0.10260519
+v 0.07664765 -0.08718132 -0.10260542
+v 0.07664765 -0.08615703 -0.08730111
+v 0.10488620 -0.02716891 -0.10260520
+v 0.10309513 -0.03245249 -0.08730091
+v 0.10363046 -0.03495940 -0.10260523
+v 0.07758447 -0.08613675 -0.10260542
+v 0.07664765 -0.08685786 -0.09752097
+v 0.07664765 -0.08642659 -0.09080511
+v 0.07727125 -0.08575265 -0.09127399
+v 0.07816536 -0.08435767 -0.08730110
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+v 0.10283316 -0.03495945 -0.08979072
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+v 0.10184508 -0.04274990 -0.10260526
+v 0.07744495 -0.08596829 -0.09752097
+v 0.08116946 -0.08170237 -0.10260540
+v 0.08088186 -0.08170239 -0.09752095
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+v 0.10008818 -0.04593085 -0.08730096
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+
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_38.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1984dd9fd11567760d897aa7b2e8ac9a252e8cdc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_38.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.07664765 -0.08718382 -0.10260542
+v 0.07664765 -0.08686409 -0.09752097
+v 0.07396819 -0.08986564 -0.09752098
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+v 0.07664765 -0.06398628 -0.10260534
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+v 0.07416508 -0.08898894 -0.08730112
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+v 0.07010738 -0.09401726 -0.09752100
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+v 0.04821376 -0.10999456 -0.10260550
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+
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_39.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b092ce7ffbe74ef0e51d2ba84e72812b72720aa0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_39.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.01837936 -0.22193948 0.10142845
+v 0.01827577 -0.22972707 0.08033303
+v 0.01853845 -0.22193946 0.09579490
+v 0.01753580 -0.21653369 0.10142847
+v 0.01803158 -0.22371293 0.10142845
+v 0.01844596 -0.22972704 0.07259852
+v 0.01724722 -0.22847663 0.09579488
+v 0.01729161 -0.23026042 0.08787425
+v 0.01591158 -0.23405585 0.08033301
+v 0.01903793 -0.22193935 0.06486761
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+v 0.01594858 -0.23407393 0.07259850
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+v 0.01652575 -0.21704877 0.06486763
+v 0.01170118 -0.21163016 0.10142849
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+v 0.01462404 -0.23321445 0.09032952
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+v 0.01184177 -0.23254910 0.09632458
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_4.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7694e1223c5f23817e7cb0869b6041f3295bce0e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_4.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_40.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2241a6f7d935f4d69609bb921d5106a0e20dd45c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_40.obj
@@ -0,0 +1,151 @@
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_41.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90629dfe79c53091f49052af99a1fd03e5826047
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_41.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_42.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..226da9432a49d5ef7376dd2100b3f7093528776b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_42.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_43.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11555015c598d5eaf9ab77261783a6fdf6ff9a88
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_43.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_44.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc2022979ccaad108be88179b586a9f4cc801f0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_44.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_45.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7da46a202ac42da7fe3b013f8fbafe6fe96c84ee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_45.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_46.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5b02b69819e46f938bf77c8933724a82cc1b85
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_46.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_47.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126c4d8c4286b390666caf5230026dfd5daeb1e8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_47.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.01818465 -0.17517527 0.13446014
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_5.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..474eebd0710422a338ddd7fda2848c27dfbda7c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_5.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_6.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48cac8eb43da0c8aa93cc8752d8a00fd61e8a14
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_6.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+v -0.09770948 -0.02979974 0.00642576
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_7.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6640e301337dfda499f9808621f2000811f0759
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_7.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_8.obj b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7d307728f90c9fef573fc03fa0a8884fb2bf8f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/mjcf/mesh/watering_can_38_collision_8.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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