diff --git a/.gitattributes b/.gitattributes
index c1d3a66bcb6db23e856b22ff63c23455f4f75b05..1a8e6bdbccaaa1203d99325ccc31262eec6b4ce0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4948,7 +4948,4 @@ dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diff
 dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/houseplant_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/7044e273492050809250fba125d7a1c4/7044e273492050809250fba125d7a1c4.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/6bbb49a9d9045184ba92a5bc93171fa5/candle_holder_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/6bbb49a9d9045184ba92a5bc93171fa5/mesh/candle_holder_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/6bbb49a9d9045184ba92a5bc93171fa5/mesh/candle_holder_028.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/6bbb49a9d9045184ba92a5bc93171fa5/mjcf/mesh/candle_holder_028.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/704de89d50895a8c864ca8706b918487.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/704de89d50895a8c864ca8706b918487.urdf b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/704de89d50895a8c864ca8706b918487.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b0d0c1fdf562c5e8381353744ee975823fbdbb32
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/704de89d50895a8c864ca8706b918487.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_1">
+   <link name="vase_1">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/vase_1.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/vase_1_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</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>0.300000</scale>
+         <version>v0.1.5</version>
+         <category>vase</category>
+         <description>glossy blue vase with wide base and flared top</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>20251016171353</generate_time>
+         <gs_model>mesh/vase_1_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.376519799232483</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/704de89d50895a8c864ca8706b918487/704de89d50895a8c864ca8706b918487.usd b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/704de89d50895a8c864ca8706b918487.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ecfd11d54db997417dadbb0271e89213f4400e65
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/704de89d50895a8c864ca8706b918487.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc52a84706ab3ada75bf183bf522ca1edcdbf7039780d96dd4a5fad28ff1ca37
+size 233038
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/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/704de89d50895a8c864ca8706b918487/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..61a5a2756c186f45f29f828f5ad113c4572ecb41
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe04e869fe8dbdd16c3854421f139c42df7eb6d47b4637f65b54398eb69cd99d
+size 1246672
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1.glb b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e5317036900982308e57fd09863308840fc5fd71
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b6227f287159cabd4ad73c4d16d57b4c4cc7ce28933f0c71c3195efbea8c91
+size 1403028
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bedc529dcdd15bcf9a4796ca8b519a6ad35b6e81
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1.obj
@@ -0,0 +1,14196 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1_collision.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e2b9b94dfd5a7c7fc883de64e1140c3ba8bf6d7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1_gs.ply b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f8cba0fabdaf4b945779f5a0192ba17058500605
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mesh/vase_1_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:21859e6dd20dc78de82683895e5041f852cd27a5006804de482cab2ce15f3035
+size 24312426
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/704de89d50895a8c864ca8706b918487.xml b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/704de89d50895a8c864ca8706b918487.xml
new file mode 100644
index 0000000000000000000000000000000000000000..42b3c56b00ff560d59126e44bb465844b804a9c8
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+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/704de89d50895a8c864ca8706b918487.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/vase_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/vase_1_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/vase_1_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/vase_1_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/vase_1_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/vase_1_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/vase_1_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/vase_1_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/vase_1_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/vase_1_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/vase_1_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/vase_1_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/vase_1_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/vase_1_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/vase_1_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/vase_1_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/vase_1_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/vase_1_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/vase_1_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/vase_1_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_21" file="mesh/vase_1_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/vase_1_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
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+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..61a5a2756c186f45f29f828f5ad113c4572ecb41
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+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:fe04e869fe8dbdd16c3854421f139c42df7eb6d47b4637f65b54398eb69cd99d
+size 1246672
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f355fb98eabcd92b225ff2d73a096df90c9e77bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1ef3ef49f0ad4c32b24921a3dec6de932985010
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision.obj
@@ -0,0 +1,14306 @@
+# https://github.com/mikedh/trimesh
+
+o vase_1_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_0.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49368fe67fa05784c3f45d973abeed1d7fe25f9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_1.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c4f41f52e673df22d7f055de4b926d807bdeae6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_1.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_10.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b36ade55915dd319b1b465eabdd4ecf14db7e97
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_10.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_11.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d18504f926b6372376c8dec74e765b32ea4f5f5c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_11.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_12.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7490f6ac67f8e0c1915d54cc3574945d02d6275e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_12.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_13.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b04e94a65ed1244a0662239727035f5bfd72637
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_13.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_14.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba6100cd8ba9d88634e357491d549620dd3d9cd4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_14.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_15.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb7e9ea581afd3141b65fb27257f66a8bb37e624
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_15.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_16.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66777112d9b84fb7c7af32035267ce97a9f7cc9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_16.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_17.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e98c4b6dff43ff51d667ca091aa9d61a2b46237
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00003013 0.02563335 -0.01249654
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+
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_18.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08562ca339b921e564add4c4bc787e144cbaa822
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_18.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00246526 0.03805840 0.00734260
+v -0.00229631 0.03804978 0.00734260
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+
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_19.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb710268c621f5b7236a17ee242d20e7ea5f8e5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_19.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+v 0.02962864 -0.02000869 -0.01249670
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+f 35 39 36
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+f 37 40 41
+f 37 41 38
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+
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_2.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d3934781b8838c4d863835f432d349c4e57f7da
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_2.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.00247327 -0.07345389 0.14595743
+v -0.00019413 -0.07335047 0.14719106
+v -0.00019413 -0.07342956 0.14595743
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+
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_20.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..918f1060a52d237ac4b1eb14ddb5e762c764b5f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_20.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03809065 -0.00005843 0.00734246
+v 0.03808020 -0.00245739 0.00734245
+v 0.03566805 -0.00245541 -0.01249664
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+v 0.03467309 -0.01581898 0.00734240
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+
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_21.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2117451c0d12d9a5477d35b6db0441468c4d4a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_21.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00238842 -0.03615944 -0.00595356
+v -0.00727204 -0.03555099 -0.00595356
+v -0.00240170 -0.03552620 -0.01249676
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_22.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..629eb286981a4282d46b443d0e72342e9bc7f3a7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_22.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_23.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df8168b5e0e29750ead6afecd17be1e382802dd4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_23.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_3.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7fb516be719cb368439a45c7e13be00d705a08d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_3.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
+v 0.03754836 -0.00228920 -0.02710211
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_4.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e3bf3640a99fe8a9064c4d8ee96ba506a76ac22
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_5.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..155f34ff7471f2f76a6510bb4ce746b46a43f4f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_5.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_6.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9925814c8d5218d54e24d0d53685e77e38d4f938
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_6.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_7.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0de8d0c144133fed3604f0cb2d5d63621eb5e2e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_7.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_8.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73ed5093e9e1861c3fc5559c7a789dc5fe74d61a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_8.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_9.obj b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3a3ae7c02f86bee8290c7c0088aa1dc150924db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/mjcf/mesh/vase_1_collision_9.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/textures/material_0.png b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..61a5a2756c186f45f29f828f5ad113c4572ecb41
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/textures/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/704de89d50895a8c864ca8706b918487/video.mp4 b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed39dd4d16025410456413a529038f5bd9a58320
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/video.mp4
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