diff --git a/.gitattributes b/.gitattributes
index b6e7abc46d180a838389b30e7337be7e73e6451f..cbda0e6eda54985cfab2cfd26992f8b358b72276 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5034,3 +5034,4 @@ dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/phot
 dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/photo_frame_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e387c3e205d052ec82b8218e6ca15fa8/e387c3e205d052ec82b8218e6ca15fa8.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/e30123c4aeb45600bd7fe8470c5af0e2.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/e30123c4aeb45600bd7fe8470c5af0e2.urdf b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/e30123c4aeb45600bd7fe8470c5af0e2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d5e0bdce11baa801bdfe1f837be10f969b28ed19
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/e30123c4aeb45600bd7fe8470c5af0e2.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shovel_21">
+   <link name="shovel_21">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/shovel_21.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/shovel_21_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</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>0.400000</scale>
+         <version>v0.1.5</version>
+         <category>shovel</category>
+         <description>compact handheld shovel with orange handle and black blade</description>
+         <min_height>0.35</min_height>
+         <max_height>0.45</max_height>
+         <real_height>0.4</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20251016191233</generate_time>
+         <gs_model>mesh/shovel_21_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.811757683753967</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Handle grip is separated, but shaft and blade are merged into one color with clear functional boundary.","merge_groups":[]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/e30123c4aeb45600bd7fe8470c5af0e2/e30123c4aeb45600bd7fe8470c5af0e2.usd b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/e30123c4aeb45600bd7fe8470c5af0e2.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/e30123c4aeb45600bd7fe8470c5af0e2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c2afc62b3cb1765d2c2efcec005833264e4facc5d5c116afe29b3475c11a096
+size 337906
diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/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/e30123c4aeb45600bd7fe8470c5af0e2/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113aae214212ddc9adbe6674fbeedd1e3ea705ef0dd9badc2f7c546b3acc16b9
+size 757895
diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21.glb b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dbcc2b66fda1686821782d14ab7fd4afda3c155d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d7ae5d018dd81ab24e318454cd7713d62a4d67aa362f96e7d967ccdf0bceed2
+size 992852
diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6216d1d198711494cfff887a46a599dc7ae97ade
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21.obj
@@ -0,0 +1,21486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21_collision.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aff4871df368dd08964d5a83aac8d2cf3da8dba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21_gs.ply b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..01353297675a6932372d794f3f18cc42799951e2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mesh/shovel_21_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/e30123c4aeb45600bd7fe8470c5af0e2.xml b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/e30123c4aeb45600bd7fe8470c5af0e2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..34549c2f6e2bcb2d4826ff97f4eaad14889ced71
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/e30123c4aeb45600bd7fe8470c5af0e2.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  </asset>
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+      <geom type="mesh" mesh="collision_mesh_0_15" 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/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 757895
diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a69beca5c8db8225992db565723994f08b4374e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e0c3245ff695d80892eb60152a57e86eb989104
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision.obj
@@ -0,0 +1,5850 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_0.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573fd42a194cb769cf3924ab16d25e804246083c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_1.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01a1838c99fa8158fd865f1d9ab29ac5ec9d6137
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_10.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..172f69aa727d625d21ceacf52c4700a5d1f80036
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_10.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_11.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ead4baf16d6001176829cd8a6821d692926150c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_11.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_12.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d908b9b4ee04f38afcef848cfae175957d030e65
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_12.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_13.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb64a542f46f48e9b1f0ee1744b7b7c75875254
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_13.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_14.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61cd75e430485d3b4b8730850bd4cfc6db4f159d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_14.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_15.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f0156088e5823dfd603c550d5402109f52a39e3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_15.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_2.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8715a6bf23e01edb3a424fcd63b366533bac8b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_2.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_3.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e16d1d1b71bc949ab0950492ebf568353999295
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_4.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9da490dc6874ed3c1d777a2c001137cc903facb4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_4.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_5.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..739b72df4fb0f16db538ddc554b03a6a3735893b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_5.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_6.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da7ee801f3c1c2c222f35e082fc11e88687ebf46
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_6.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.07363529 0.01568687 -0.05721843
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_7.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a4b48b5ab7fe1460a3e3efde241542e990eb3a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_7.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_8.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe1f9141b88b267efa6c5dfdd08922e452e466df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_8.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_9.obj b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37413ecab22e98033d3f0e4854cca6b1d063473a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e30123c4aeb45600bd7fe8470c5af0e2/mjcf/mesh/shovel_21_collision_9.obj
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