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index 09342b4befcc1084e5bc5a342e04068366dfd35d..166fb7b0021ddaee7c7fa5c74e5d643ef21e5b6a 100644
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/candle_holder_022.urdf b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/candle_holder_022.urdf
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/candle_holder_022_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/candle_holder_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1da9446992bb36c6bec11d41cd06c38cb385ce4f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/candle_holder_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd6a10b8b0ac6ab726250b3b4760f5bed048de4efbf83aae722fcec7fc54deb9
+size 3758800
diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c41f9b0353e9bba1ff8b0eddb18b452d5e46523
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl candle_holder_022_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd candle_holder_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1da9446992bb36c6bec11d41cd06c38cb385ce4f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd6a10b8b0ac6ab726250b3b4760f5bed048de4efbf83aae722fcec7fc54deb9
+size 3758800
diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/candle_holder_022.xml b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/candle_holder_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..025c5f576bb9b7f5c6d8f15c7e93e43d0a7608c2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/candle_holder_022.xml
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d336a35c17c5757bd5990171868433aa05727a73
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21676f0e49e34e0fe82f7a60aff055c749d8f4a4da9df3ab41213d455055bf67
+size 35832165
diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2abf65b75ab8dbbe7e32fad3f60edccf13ac5730
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision.obj
@@ -0,0 +1,10316 @@
+# https://github.com/mikedh/trimesh
+
+o candle_holder_022_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_0.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b475035ef2d6b524bae61bd04e0fd8542e1ba23a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_1.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7c062e931633aff5c95da684d61e2c6807f9ac4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_1.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_10.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..367232d176b6a7476c379f2146122becd8213248
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_10.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_11.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0022b49b4ccbc4fbfb166025dd7f3cbbc94e2ef
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_11.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00153849 -0.00154584 0.12358098
+v -0.00153322 -0.00153412 0.12358098
+v 0.00151805 0.00152531 0.12358100
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+
diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_12.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de18578998c94c35872af4be48396e4137b20bd1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_12.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_13.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71d2e04e89737650e7072fb685c91cd5f9456b31
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_13.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.03008250 -0.00144055 0.12358064
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_14.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5469e3c65fb57dcbed60b47ae3bf579a515999a9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_14.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_2.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d9ee70831022320eee515ab5eb88aab22f1a856
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_2.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_3.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..891fa160fb7c1950566ac840f85c357a7f37af89
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_3.obj
@@ -0,0 +1,1510 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_4.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe4121556e6c2681ec9c4ec3b0b424ad6815e8d3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_5.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c21080521c4b4a11e313362df81df9f1fba97b13
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_5.obj
@@ -0,0 +1,4492 @@
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_6.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de483cb3f26cca5ab3949dc31359c3cef9ef6582
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_7.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba9c2580c27dd1f3a4230dc05d32e4ea844b8140
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_7.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_8.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e696f5c6ecee3e849cfc43109070ea4f9fbb4d4f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_8.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_9.obj b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36a37539c66e3367302a89051da4d11e438f3d63
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022_collision_9.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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