diff --git a/.gitattributes b/.gitattributes
index 09c7b0e61d2a29619b016958c217c8262d396055..150c4de3e9fa4285407bd84ac9b9cb7fdc38a21e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4985,3 +4985,5 @@ dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/wate
dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/watering_can_025.usd filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/aa70004706f6572b98b705705eddbec3/aa70004706f6572b98b705705eddbec3.usd filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/b370ca6a6b1658bd959d46c7d90df1e8/b370ca6a6b1658bd959d46c7d90df1e8.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/diffuser_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/diffuser_bottle_002.urdf b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/diffuser_bottle_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ffe4297ce77ba5b0e48ae1c27212b3500b4ccdb
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/diffuser_bottle_002.usd b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/diffuser_bottle_002.usd
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/diffuser_bottle_002.usd
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.glb b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.glb
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.mtl b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.mtl
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.obj
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002_collision.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc189c773214a27bc551ebb3d2bc418bdd9e987
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a59c02ca47e9348ae1db1d146854a5e81f87af4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d297465fbbffecec3c07fd3ac666a61a643bb5e0855f03687d9c9400d381e19b
+size 8753285
diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6a4a8c0a756ae676cdce0fe372835514f77c836
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_002_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
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a59c02ca47e9348ae1db1d146854a5e81f87af4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d297465fbbffecec3c07fd3ac666a61a643bb5e0855f03687d9c9400d381e19b
+size 8753285
diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/diffuser_bottle_002.xml b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/diffuser_bottle_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1c30e7ca967fd943f9e68b484a4053aab95bae26
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/diffuser_bottle_002.xml
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511f2114d9304294ad360f2bf094b73f25e4c811
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002.obj
@@ -0,0 +1,107950 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14105c3d74876e1680d76138993c0fe91de26f6c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision.obj
@@ -0,0 +1,10181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_0.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14945d60e55c0a51a9089dd134938dc9ae8b2c18
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_0.obj
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+
diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_1.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba56506205d35a7a084204ad4f011745c18cc9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_1.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.00179890 0.01655140 0.03132218
+v 0.00088453 0.01405417 0.04274491
+v 0.00179890 0.01405079 0.04274491
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+v -0.00117535 0.01654803 0.03132218
+v -0.00117535 0.01405417 0.04274491
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+v -0.00414961 0.01604521 0.03132218
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+v -0.00665138 0.01520494 0.03132218
+v -0.00412921 0.01349736 0.04274491
+v -0.00384028 0.01355810 0.04274491
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+
diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_10.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9971de024ea728ca06458042614e6f4444a57eef
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_10.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00151477 0.01239880 0.05692678
+v 0.00080440 0.01239880 0.05692678
+v 0.00148364 0.01194824 0.06124158
+v 0.00214307 0.01166066 0.05692677
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+
diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_11.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486d808ecdef956d60f293a714b38868327d3e0c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_11.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.00223962 -0.00135017 0.04713297
+v 0.00166086 -0.00848894 0.05692670
+v 0.00223962 -0.00923916 0.05692670
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_12.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..649081e4bb473526960fc88f8c69629f5092512a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_12.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_13.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8e16f1e3b4f57b7211f2cabb1dd59d188ddeed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_13.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_14.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a6357affad5a74549f1001c6bb2fdb5eab7547a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_14.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_2.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb278d36d7b434d63bf1f01e1efa3b5676d536cd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_2.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.02844276 0.01567863 0.12495272
+v 0.02748740 0.01390849 0.12495271
+v 0.02749797 0.01382395 0.12191519
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_3.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07066fba07792dff543d862f2a4f379a28716ce0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_3.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.03013754 -0.00944092 0.12655246
+v 0.02835803 -0.00831965 0.12686785
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_4.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57c2d143a0d32cde98d4ad41365c22faab4af538
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_4.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_5.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330419cc925e04a8755cb94e893b2f4107be5d76
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_5.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_6.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e590127e5134eac383dd054c29c3b4b4fc20ef8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_6.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_7.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95b1a14118525f30be1e2ea14e33a705b8a37619
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_7.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_8.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d528b63de9441c6f32e14d91b704786a9b1ce16f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_8.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_9.obj b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mjcf/mesh/diffuser_bottle_002_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/video.mp4 b/dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/video.mp4
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