diff --git a/.gitattributes b/.gitattributes
index 9c53fea5db045851bf460ea3666fa288f25b7275..e048dcd077b58a85ed7171f2b0e7fddb4de876b6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4899,3 +4899,5 @@ dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/diffuser_
 dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/mesh/diffuser_bottle_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/watering_can_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/candle_holder_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/candle_holder_039.urdf b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/candle_holder_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e85e0e110f308088093def13f7d934f9296ba2d6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/candle_holder_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="candle_holder_039">
+   <link name="candle_holder_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/candle_holder_039.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/candle_holder_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.55</mu1>
+            <mu2>0.42</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="4.0000" />
+         <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>1.000000</scale>
+         <uuid>0d872e0db531509c8fb6af2b23af79b3</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>candle_holder</category>
+         <name>ornate candlestick</name>
+         <color>golden</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>ornate golden pedestal candle holder with cherubs and square base</description>
+         <min_height>0.2177</min_height>
+         <max_height>0.2177</max_height>
+         <real_height>0.2177</real_height>
+         <min_mass>2.5</min_mass>
+         <max_mass>5.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609203023</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.057013 -0.052613 -0.111737</min>
+            <max>0.056982 0.053168 0.105955</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>19</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/candle_holder_039.usd b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/candle_holder_039.usd
new file mode 100644
index 0000000000000000000000000000000000000000..45b75d19ccf10359762158c1c720ef449ca77d95
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/candle_holder_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0b61d00aa5c34c2051064c23a9bef27cb4c8a7da345dde1ceedf071faac6055
+size 5063111
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.glb b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b25ec71939e0c4f2f46906973b6cb7342e59929b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 21990936
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.mtl b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b08fce5cd304b0008fd9f69e6821426840cfa44b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.mtl
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+newmtl candle_holder_039_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6053f344f04308a97e83775af64895f9123ecbf5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039.obj
@@ -0,0 +1,126834 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039_collision.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f6beab9557503d6a487785c244bf73c9707b437
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/candle_holder_039_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 18424280
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/material.mtl
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+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl candle_holder_039_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mesh/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/0d872e0db531509c8fb6af2b23af79b3/mjcf/candle_holder_039.xml b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/candle_holder_039.xml
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+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/candle_holder_039.xml
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+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" 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/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dad4db8947147c5319d90366b954450322eecbdb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039.obj
@@ -0,0 +1,126834 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_039_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fd8a76c5354f6a718458d102b667caaa91f9347
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision.obj
@@ -0,0 +1,10953 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_0.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89efc92b0f26c69965695f1f8a7a99dc0ff6cdbb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_0.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_1.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a83072453d16f63d5da614d7954a1b7f491e21ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_10.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d31e10bc2f0b848f42036364e0e3f68cbac0d4a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_10.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_11.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac5f198cec17d8895c71bcaa9ccd8b2b8ad84455
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_11.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_12.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc586a4f2050220c26c24898efaef761b929c9ee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_12.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_13.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..185f8ecd791302461d4f04eddd019881827a62ab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_13.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_14.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579ba109f893bc26719fea8b0fa7fe6d1ded881b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_14.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_15.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..225827cf945982c781dcdf17324774d47a49d7ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_15.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_16.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d976ad64fcfa6af8dd24b86481922f688415202
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_17.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df574d8dd16b9297df1da5c5b5f767ff93fdfbe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_17.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_18.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3af4e4c349ac045534d2fa94217cb2fe380557c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_18.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_19.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff16eea077c91fc9485f6151248bf8256edd20c0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_19.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_2.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02445dac19dd5084bd238e6087e49a22bbd3179a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_2.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_20.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd1bbb68a0368122a8807f98be7f50f78e77ab2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_20.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02433288 0.02785944 0.07169632
+v -0.02065658 0.02785944 0.07196977
+v -0.01964819 0.02475637 0.07266285
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+v -0.02137686 0.02505755 0.08009161
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+v -0.03605131 0.02428959 0.08027993
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+v -0.02963412 0.02785940 0.08048116
+v -0.03656223 0.02785941 0.07779480
+v -0.01860331 0.02785941 0.07759702
+v -0.03604171 0.02785941 0.07829354
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+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_21.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..913e6d40931b9eab4f68e370a47123a9332e0817
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_21.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02516734 -0.02721784 0.08018158
+v 0.02839240 -0.02638372 0.07811046
+v 0.02677988 -0.02590256 0.07857322
+v 0.02601276 -0.02405224 0.07756680
+v 0.02469316 -0.02721784 0.08018158
+v 0.02516734 -0.02814857 0.08018158
+v 0.02839240 -0.03884732 0.07924644
+v 0.02839240 -0.02970350 0.07889679
+v 0.02839240 -0.02605117 0.07679784
+v 0.02839240 -0.02557558 0.07458146
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+v 0.02137529 -0.02445537 0.07656647
+v 0.02098594 -0.04120480 0.07765025
+v 0.02393112 -0.04192189 0.08014761
+v 0.02469316 -0.02814857 0.08018158
+v 0.02506366 -0.04227672 0.08014760
+v 0.02839240 -0.04155034 0.07784945
+v 0.02839240 -0.02601772 0.07360286
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+v 0.02839240 -0.03692638 0.07144384
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+v 0.02839240 -0.04042080 0.07207969
+v 0.02839240 -0.04210764 0.07306089
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+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_22.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..286948502af9d9816d05e54737908c0ad0cfe460
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_22.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.04865996 0.00522958 0.06025059
+v 0.04804051 0.01265031 0.06024139
+v 0.04717380 0.01596635 0.06408146
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+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_23.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d971b5b9bb63c3ff4943d81d0c472ef416b70836
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_23.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.02019357 0.00522955 0.06450485
+v 0.01876289 0.00522950 0.07827432
+v 0.01946604 0.00203840 0.07827431
+v 0.02076666 0.00225537 0.06450484
+v -0.01017599 0.00522955 0.06450485
+v 0.01818574 0.00522949 0.08052342
+v 0.01853934 0.00203839 0.08091172
+v 0.01959610 -0.00150031 0.07827429
+v 0.02093737 -0.00109778 0.06450483
+v 0.02079511 0.00203845 0.06450484
+v -0.01017599 -0.01872337 0.06450476
+v -0.02056879 -0.00150026 0.06479176
+v -0.02048750 0.00203583 0.06479178
+v -0.02001196 0.00522694 0.06479179
+v -0.01017599 0.00522950 0.08030693
+v 0.01604377 0.00522949 0.08167804
+v 0.01861250 -0.00150032 0.08098043
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_24.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97bc8af6faf226d2ede37aeb673357e369d79999
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_24.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_25.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..905d6123e4c4c8f83adde1ceda2148f34a23ac05
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_25.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_26.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c76614e700176752233bb3b22d98858ad4675853
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_26.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_27.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dc67f391f21170eb8db6964882d134b264b5a30
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_27.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_28.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ba85ae62b7550c36858e06d70b957df8a8928b4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_28.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_29.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbee4bc60034637451a02961be521523833ad686
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_29.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_3.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c25dc3a44bc3332d9e8d7ed09e4e441d192bcd77
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_3.obj
@@ -0,0 +1,856 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_30.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d12dc392ae5adcc2a597b0a6e2e649adbacea56
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_30.obj
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_31.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27cd548681702456be0c10fe28c7285054605280
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_31.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_32.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9bce4314cd5a81ad8d2b714637e6f038090f203
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_32.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_33.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..181b5f89052f17230ac719f3d86cf40c567236e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_33.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v -0.04332492 -0.00150093 0.05539734
+v -0.03873869 0.00522961 0.04838571
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+f 41 58 59
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+f 52 64 65
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+f 53 68 69
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+f 69 78 75
+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_34.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f77cd1701ba48365a647f30343c3cf46cfb9ce2f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_34.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03804878 0.04447787 0.06024297
+v 0.03671403 0.04651566 0.06024298
+v 0.03677788 0.04651815 0.06248968
+v 0.03741941 0.04449405 0.06375491
+v 0.03799861 0.04094285 0.06384950
+v 0.03783291 0.03763459 0.05288294
+v 0.03248328 0.05007685 0.05405869
+v 0.03470735 0.04651815 0.06248968
+v 0.03032457 0.04359969 0.06711312
+v 0.03032457 0.04275019 0.06841890
+v 0.03113637 0.04270785 0.06841890
+v 0.03389404 0.04366322 0.06673135
+v 0.03630814 0.04332816 0.06616883
+v 0.03248328 0.05007685 0.05521751
+v 0.03032457 0.05035960 0.05550130
+v 0.03654985 0.04094284 0.06657761
+v 0.03625949 0.03763454 0.06661983
+v 0.03635223 0.03763454 0.06644247
+v 0.03715490 0.03763455 0.06384949
+v 0.03762160 0.03763457 0.05672427
+v 0.03774626 0.03763459 0.05272584
+v 0.03573350 0.03920528 0.05120552
+v 0.03054653 0.04798799 0.05161267
+v 0.03032457 0.05035960 0.05348942
+v 0.02763532 0.05025621 0.05534082
+v 0.02251980 0.04416023 0.06377518
+v 0.02591596 0.04183717 0.06841889
+v 0.03399437 0.04111971 0.06841889
+v 0.03400805 0.04109106 0.06841889
+v 0.03512085 0.03763453 0.06841888
+v 0.03527895 0.03763453 0.06830063
+v 0.03600258 0.03763459 0.05117005
+v 0.02950670 0.04679097 0.05116332
+v 0.02828749 0.04679097 0.05116332
+v 0.02763532 0.05025621 0.05381713
+v 0.02251980 0.04564499 0.06024298
+v 0.02251980 0.04246870 0.06549145
+v 0.02344713 0.04068499 0.06841889
+v 0.02262013 0.03763453 0.06841888
+v 0.03548874 0.03763459 0.05117005
+v 0.02950670 0.04605358 0.05116332
+v 0.02677184 0.04808515 0.05281710
+v 0.02828749 0.04605358 0.05116332
+v 0.02251980 0.03763457 0.05588134
+v 0.02466178 0.04702015 0.05422254
+v 0.02251980 0.04549055 0.05840340
+v 0.02251980 0.04071240 0.06700331
+v 0.02251980 0.03763453 0.06788677
+v 0.02251980 0.04481294 0.05687126
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 7 14
+f 3 14 15
+f 3 15 8
+f 4 13 16
+f 4 16 5
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 6 20 19
+f 6 19 18
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+f 6 40 32
+f 6 32 21
+f 6 21 7
+f 7 21 22
+f 7 22 23
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+f 8 15 9
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+f 15 24 35
+f 15 35 25
+f 16 29 30
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+f 16 31 17
+f 21 32 22
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+f 23 34 35
+f 23 35 24
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+f 26 48 47
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+f 32 40 43
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+f 37 47 38
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+f 40 44 43
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+f 45 49 46
+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_35.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7690e17744c560aff019354d64a97c85dc2d72f1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_35.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02678716 -0.04329334 0.06002405
+v -0.02678716 -0.04237855 0.05838251
+v -0.02678716 -0.04293397 0.06375918
+v -0.03459934 -0.04177923 0.06384921
+v -0.03459934 -0.04171050 0.06096455
+v -0.03459934 -0.03950804 0.05756845
+v -0.02678716 -0.03178422 0.05083950
+v -0.02678716 -0.04266811 0.06414227
+v -0.03448539 -0.03979311 0.07040580
+v -0.03459934 -0.03979875 0.07040580
+v -0.03459934 -0.03984719 0.07031386
+v -0.03459934 -0.03890645 0.05747461
+v -0.03459934 -0.03660486 0.05744972
+v -0.03356537 -0.03178424 0.05715474
+v -0.02678716 -0.03178427 0.06473227
+v -0.02678716 -0.04068309 0.06591982
+v -0.03174902 -0.03886369 0.07040581
+v -0.03459934 -0.03178429 0.07040583
+v -0.03459934 -0.03178424 0.05821590
+v -0.03180256 -0.03178429 0.07040583
+v -0.03050856 -0.03287031 0.07040583
+v -0.02678716 -0.03457142 0.06589686
+v -0.02678716 -0.04033835 0.06616117
+v -0.03052003 -0.03689218 0.07040581
+v -0.03041449 -0.03322068 0.07040583
+v -0.02678716 -0.03686512 0.06648680
+f 1 2 7
+f 1 7 15
+f 1 15 22
+f 1 22 26
+f 1 26 23
+f 1 23 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 5 6
+f 3 8 9
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+f 3 10 11
+f 3 11 4
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+f 4 12 6
+f 4 6 5
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+f 15 20 21
+f 15 21 22
+f 16 23 17
+f 17 23 24
+f 21 25 22
+f 22 25 26
+f 23 26 24
+f 24 26 25
+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_36.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde9c28b6fe38365bf4ce6ce4bd016e465bb16e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_36.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00576264 -0.00149755 0.08205772
+v 0.00484930 -0.00393395 0.08205772
+v 0.00549634 0.00222890 0.08205774
+v 0.00428724 0.00142270 0.09630920
+v 0.00397675 0.00093455 0.09991704
+v 0.00397675 -0.00077072 0.09991704
+v 0.00420452 -0.00176913 0.09639331
+v 0.00223958 -0.00545855 0.08205771
+v 0.00366059 -0.00336558 0.09524599
+v 0.00390535 0.00429234 0.08205775
+v 0.00256707 0.00340268 0.09270603
+v 0.00164806 0.00329596 0.09649847
+v 0.00176931 0.00250670 0.09991705
+v 0.00368325 0.00048446 0.10208315
+v 0.00368325 -0.00007656 0.10208315
+v 0.00337049 -0.00312892 0.09765044
+v 0.00201521 -0.00554730 0.08205771
+v 0.00201634 -0.00376601 0.09639331
+v 0.00179197 0.00522949 0.08205775
+v 0.00037776 0.00390136 0.09542126
+v 0.00077437 0.00089544 0.10592700
+v 0.00188603 0.00134237 0.10338001
+v 0.00077437 -0.00064078 0.10592700
+v 0.00176024 -0.00153672 0.10338000
+v 0.00281070 -0.00253938 0.09991703
+v 0.00036643 -0.00340576 0.10227241
+v 0.00102594 -0.00359698 0.09991703
+v -0.00165177 -0.00556421 0.08205771
+v -0.00170503 0.00522949 0.08205775
+v 0.00173871 0.00522949 0.08208112
+v -0.00028628 0.00390136 0.09542126
+v 0.00168885 0.00522949 0.08209981
+v -0.00075202 0.00089544 0.10592700
+v -0.00075202 -0.00064078 0.10592700
+v -0.00031688 -0.00340576 0.10227241
+v -0.00205858 -0.00556104 0.08205771
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+v -0.00170276 0.00522949 0.08207177
+v -0.00160531 0.00282474 0.09649847
+v -0.00140473 0.00145014 0.10352256
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+v -0.00370056 -0.00014100 0.09889123
+v -0.00076335 -0.00359698 0.09991703
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+v -0.00342860 -0.00302008 0.09362901
+v -0.00489267 -0.00396987 0.08205772
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+v -0.00551705 0.00222361 0.08205774
+v -0.00581168 -0.00145952 0.08205772
+v -0.00581394 -0.00149755 0.08205772
+v -0.00271129 -0.00138985 0.10002218
+v -0.00499012 -0.00371313 0.08205772
+v -0.00361104 -0.00329478 0.09122455
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+f 19 29 38
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+f 28 35 36
+f 29 37 38
+f 31 39 40
+f 31 40 33
+f 31 32 38
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+f 33 40 42
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+f 35 47 45
+f 36 45 48
+f 39 49 40
+f 39 41 50
+f 39 50 49
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+f 42 49 50
+f 42 50 51
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+f 42 52 53
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+f 44 46 54
+f 44 53 55
+f 44 55 48
+f 44 48 47
+f 45 47 56
+f 45 56 48
+f 47 48 56
+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_37.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a96b9921776ff74bb98a6c7dacb56a9970b711
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_37.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.04663910 -0.02160935 0.06258477
+v 0.04662322 -0.02160935 0.06276369
+v 0.04253751 -0.03066058 0.06394824
+v 0.04663910 -0.02160935 0.06131175
+v 0.04248588 -0.03066059 0.06446650
+v 0.04520262 -0.02160936 0.06449532
+v 0.04092627 -0.03066060 0.06819506
+v 0.04177227 -0.03066059 0.06656420
+v 0.04238394 -0.03066058 0.06142278
+v 0.04210856 -0.03066057 0.06024230
+v 0.04333585 -0.02565071 0.05795542
+v 0.04537209 -0.02160934 0.05970352
+v 0.04369994 -0.02160936 0.06589995
+v 0.04070252 -0.03028845 0.06819506
+v 0.03311366 -0.03066060 0.06819506
+v 0.04355696 -0.02160936 0.06598633
+v 0.04048540 -0.03066056 0.05761606
+v 0.04383763 -0.02160933 0.05810350
+v 0.03311366 -0.02160929 0.04718724
+v 0.03746547 -0.02894340 0.06819506
+v 0.03311366 -0.03033364 0.06819506
+v 0.03311366 -0.03066056 0.05652403
+v 0.04103351 -0.02160936 0.06615085
+v 0.03311366 -0.02471144 0.05000678
+v 0.03311366 -0.02345410 0.04867207
+v 0.03311366 -0.02215777 0.04755742
+v 0.03311366 -0.02160936 0.06410251
+v 0.03740325 -0.02894074 0.06819506
+v 0.03355983 -0.02979580 0.06819506
+v 0.03359293 -0.02976478 0.06819506
+v 0.03876294 -0.02160936 0.06587939
+v 0.03475403 -0.02160936 0.06478530
+v 0.03873779 -0.02160936 0.06587322
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 18
+f 1 18 19
+f 1 19 27
+f 1 27 32
+f 1 32 33
+f 1 33 31
+f 1 31 23
+f 1 23 16
+f 1 16 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 3 7 15
+f 3 15 22
+f 3 22 17
+f 3 17 10
+f 3 10 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 9 10
+f 6 13 7
+f 7 14 20
+f 7 20 28
+f 7 28 30
+f 7 30 29
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+f 7 21 15
+f 7 13 16
+f 7 16 14
+f 10 17 11
+f 11 18 12
+f 11 17 19
+f 11 19 18
+f 14 16 20
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+f 15 25 24
+f 15 24 22
+f 16 23 20
+f 17 22 24
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+f 17 26 19
+f 20 23 28
+f 21 29 27
+f 23 30 28
+f 23 31 30
+f 27 29 30
+f 27 30 32
+f 30 31 33
+f 30 33 32
+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_38.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02d3dd3838bd75f4a9ce2f968363cf2398fdd9e6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_38.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.03855192 -0.04636127 0.06024332
+v -0.04106440 -0.04620000 0.05791638
+v -0.03882994 -0.04614578 0.05799169
+v -0.03460062 -0.04171061 0.06096439
+v -0.03460062 -0.04177911 0.06384859
+v -0.03875948 -0.04614009 0.06278300
+v -0.04140392 -0.04636127 0.06056902
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_39.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c0335a8a33f57e79bf572807d1c510e32decb7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_39.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_4.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c11cd5a1705ed77f171589332430d5bbfa860cbf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_4.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_40.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7584e38037940c032a4664df031722dc4d2ae05f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_40.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_41.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd3b63b8a29f0776bc58030d19d9689ac7891c5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_41.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+v -0.02678640 -0.02160946 0.06254574
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+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_42.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..045e80b1225b6b5d881d002b539af49ae1f4333c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_42.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_43.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eefa026c5e55856cab288c063b68969282a36eb0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_43.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_44.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b8376ce7a78d26405bb2c8f3c97826ffaf0c07a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_44.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_45.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c19fbe9d39fc22b490f7490fd3c4d76fae457a6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_45.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_5.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6499c92c6c49be7be951a344970aa61c541ec886
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_5.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_6.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c90b856facd201696027989926b9d1755a5f27d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_6.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_7.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e80250efd3246cfef42ccdb20bd53538aab28059
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_7.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_8.obj b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b17023ff53232ae73a62ac75089e7df2ef97c64
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/0d872e0db531509c8fb6af2b23af79b3/mjcf/mesh/candle_holder_039_collision_8.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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