diff --git a/.gitattributes b/.gitattributes
index 753ec99a93ff1dc2d7fb213603542f8f778ca75b..aab52ae1aa1e5d43d0eb4765a52c4593edfca3c6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4997,11 +4997,5 @@ dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/mesh/wate
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dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/watering_can_005.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/watering_can_005.usd filter=lfs diff=lfs merge=lfs -text
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-dataset/livingroom_supplies/ornaments/c0a68f9999725308b4169378e21b627c/mesh/candle_holder_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/houseplant_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/mesh/houseplant_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/photo_frame_012.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/diffuser_bottle_008.urdf b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/diffuser_bottle_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e45b5a5283f8e94aae184e19873e7ed43b27a6d2
--- /dev/null
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/diffuser_bottle_008.usd b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/diffuser_bottle_008.usd
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+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/diffuser_bottle_008.usd
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..cf928cb60e6770b42b3c990dfa13ce878d77c2b4
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/diffuser_bottle_008.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/diffuser_bottle_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7bc8bedf31bbbc7c3e15f909fbb726d739f7a88
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+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/diffuser_bottle_008.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/diffuser_bottle_008_collision.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/diffuser_bottle_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cabb123b0a37c4ef7ef01563f1ac8987593469a8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/diffuser_bottle_008_collision.obj
@@ -0,0 +1,15867 @@
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/diffuser_bottle_008_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/diffuser_bottle_008_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/material.mtl
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mesh/material_0.png
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5818a8dc4f9edaaca1c05d57b547fa7b26f5baba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008.obj
@@ -0,0 +1,107566 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_008_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..967d5e98bab533f8019773172a555b523fc95045
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision.obj
@@ -0,0 +1,15867 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_0.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef5279f111ff3645b1d2f8a633444eb3b1593e03
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_1.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f953788641a40f6b1c40dd30b939839dac8b2836
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_10.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1caaf338f1130a707ec9032e627b1e438b0cfc14
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_10.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_11.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e55396d61b1d4e9ba6fc06bdc365f6e48316f9fa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_12.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d60abd01fecd6275211fc2b5a60853b7ecc74e88
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_12.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_13.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c55ae0441bc868e4b30fd1e16ebcd7f107576cbc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_13.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_14.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68274f1580d5fd0ebff2fed4ccca98b88cee881d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_14.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_15.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f12ff2ffcf323105b7bc38afdde855bf60d79d3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_15.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02372523 0.02465366 0.00689209
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+v 0.02275906 0.02465366 0.00712961
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_2.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f119bed3baca34c9c92dd6feb422a7bc2b7e4d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_3.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d4544bb9fe43de42fd77f145ac28ac31142be8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_4.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..405bac645a3b8dc6e1c662c1322ee595c4e64343
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_5.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e0ff6fdde76741fb6a084d9ce1373b0c568a25b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_6.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26146645f746bfe0e81a682c69b98a20d0b2b0d2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_7.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17b303cbf38be909a2c41465c43418927c1bbdcc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_7.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_8.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0328bb3bf3ac9cc868ac5f6bcb7b51a7af76b83
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_8.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_9.obj b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b553500490aeedffe801c78303edb0398ee30e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/mjcf/mesh/diffuser_bottle_008_collision_9.obj
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