diff --git a/.gitattributes b/.gitattributes
index bbbc764da60a2efae610a26b0f9fb481e51ee0ed..802ed8d7da7425dee426e2ce9931aa14f8812a25 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5012,3 +5012,7 @@ dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/mesh/phot
 dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/mjcf/mesh/photo_frame_013.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/photo_frame_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c960be8884fb5daf925af667b2ea3623/c960be8884fb5daf925af667b2ea3623.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/diffuser_bottle_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/diffuser_bottle_014.urdf b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/diffuser_bottle_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ad083f551e477ac489ce4d8e45d1ac8793a8c01
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/diffuser_bottle_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_014">
+   <link name="diffuser_bottle_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_014.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/diffuser_bottle_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>c8bcb027c0da574694cb53e94f72759e</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>blue diffuser bottle</name>
+         <color>blue,beige</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>round blue ceramic diffuser bottle with rope-topped wooden cap</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518194631</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.053846 -0.056356 -0.054861</min>
+            <max>0.053527 0.054344 0.075139</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/c8bcb027c0da574694cb53e94f72759e/diffuser_bottle_014.usd b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/diffuser_bottle_014.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0844fde7f945dda12d2f81cfe25b79caf3075a2c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/diffuser_bottle_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8173aade74851b76304a2e674dbcd6f9ca52cf2c8e9fe4af3f16c7f5c9c5515f
+size 44289254
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.glb b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7b0e15ba1772d14fdc28bd174751da87f34e1b37
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e69b7abd37bd9bf63a56cf33f8e673956ae744880e8ffb76988ab40415a884de
+size 30212132
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.mtl b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60da4106e1441562e41ff0aebaa2c13b2582fd78
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_014_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/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36fed3b72ea9ab9e68293964d78b62a53dc30d75
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7430975f9018d8271ba5c1be5ad3f623b7ddf9f1710d2e4c5c7b391ac2acfabb
+size 38227568
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014_collision.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014_collision.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014_collision.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..267e6b73e05925ddf005e9614b6030c3e3042be4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7e59f5749a5adefed8eafd91ce0058c69f2efb64f07858d4d6d843c72848c1
+size 4723673
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8ac5f6bfb56bc9644767915bbf300a1e0957b14
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..267e6b73e05925ddf005e9614b6030c3e3042be4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7e59f5749a5adefed8eafd91ce0058c69f2efb64f07858d4d6d843c72848c1
+size 4723673
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/diffuser_bottle_014.xml b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/diffuser_bottle_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b9c141be0088d00dafc17186a6cf91ae990cdc38
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/diffuser_bottle_014.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_014">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_014_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_014_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/diffuser_bottle_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/diffuser_bottle_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/diffuser_bottle_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/diffuser_bottle_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/diffuser_bottle_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/diffuser_bottle_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/diffuser_bottle_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/diffuser_bottle_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/diffuser_bottle_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/diffuser_bottle_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/diffuser_bottle_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/diffuser_bottle_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/diffuser_bottle_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/diffuser_bottle_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/diffuser_bottle_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/diffuser_bottle_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/diffuser_bottle_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/diffuser_bottle_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/diffuser_bottle_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/diffuser_bottle_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/diffuser_bottle_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/diffuser_bottle_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_014">
+      <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/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ef4b965ff2eba28a1ff6af70e4415b7a984dde
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a8d92c2d01faf8576e49b918e5f100a64a1ee082c53a9df2cd6b940b1e1fa59
+size 36563991
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45d0139970ab4d9d0914d96f7c0f2093c7edeb2b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision.obj
@@ -0,0 +1,31071 @@
+# https://github.com/mikedh/trimesh
+
+o diffuser_bottle_014_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_0.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490df2253c4a0a704705911829a540d33e595ef5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_1.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0aea15680f411c62250cd0035b55f847d1df17
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_10.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5138a3dd2ed18349bbabbd7de478a5efaac377
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_10.obj
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+
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_11.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ce93e59abe369cdc1d03f8f0ff795c7435cde57
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_11.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_12.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff25d90009326520ba596606259c40b82e9e0174
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_12.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00745621 -0.03262205 0.03363774
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+
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_13.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4b7d80f1018f58470adff95da29f1020cafdc14
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_13.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_14.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..359ab02a5ef413208b49557f75b0a5f7afd2ef28
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_14.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_15.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6dbcfe9d8d803605076089c48a60a653eb62374
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_15.obj
@@ -0,0 +1,1021 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_16.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b7d1fe042e6b0035412e26053034f9bec1bd524
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_16.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_17.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef0d8b6d3be0ff30ab2d96eac69527d9e343725
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_17.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_18.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bed1e5c7a999c52f0222d940cbddfdc508f2da24
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_18.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_19.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caad2aa5e61289a85d67f21eeff585b6cd990e51
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_19.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_2.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb8813477fe7ed71fe38babe715c11d40a71028
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_20.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd5a2da3fb552461a36f1e6f76191f3280b52773
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_20.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_21.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fcaee2e0b9c0c362f6a2a1157cfac0e80392f5e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_21.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_22.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72660474fb5d5207f09c338303a5370485ddfe65
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_22.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01506165 -0.04571645 0.00984086
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_23.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b53a89af06814d57c43d2e91943f8827aa5d86
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_23.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_24.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523849919e15b06ffd4402df6cb04f6bc2f3cf63
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_24.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_3.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cbf919211bf7646d18788fdf44fb83fe6e54013
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_3.obj
@@ -0,0 +1,2350 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_4.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..581f86470c458f33bb5f0769999b068fc6a72f8f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_5.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83306dcdb48aecc7c835472c64f34a63c64fe4a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_6.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb8d7e0e9c5b8709c917e83fd530a50a4ade7805
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_7.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e56b9ab69e58e680429294b99a090e99d997733
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_7.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_8.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f50390d96490fe8497691e7fb0c0e701fff6c3e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_8.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_9.obj b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653b6ac4b38c23dd2eb94bdab66e0d6a242ebb5f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014_collision_9.obj
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