diff --git a/.gitattributes b/.gitattributes
index 484f467264d784f199e7e6b5a2789997c8de1845..b2c73b82e9bd9885ef21f19cd110003d5472ee0b 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/livingroom_supplies/ornaments/d421bb4443645bc39bff8942d7525aa4/mesh/houseplant_007.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015.obj filter=lfs diff=lfs merge=lfs -text
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-dataset/livingroom_supplies/ornaments/da0de9744e3d5627a06330f5fa36e2d3/photo_frame_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/candle_holder_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/candle_holder_032.urdf b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/candle_holder_032.urdf
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/candle_holder_032.usd b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/candle_holder_032.usd
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+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/candle_holder_032.usd
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new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7392580938424e5349f492f3dda0990c2a57c683
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032_collision.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74048ef64dde1571a9ab9e7657b00bfaa3e935fe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..89d00adb226ddb178b52763895082329878cee1a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba28093e2a8fe79fec16de65292a168260ab669b32942d29a1758de965db641
+size 6755250
diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e297ffb9deba0c735656c928b1781b1b416fa358
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl candle_holder_032_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/material_0.png
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/candle_holder_032.xml b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/candle_holder_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8d5c6d7a07f1936c1fa10a785d255aeb68b0c9c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/candle_holder_032.xml
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bce0f829579cb490505f3fed181003b8f918f09
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6431ed284bd75d79a174ea05f2efab2575f863fa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision.obj
@@ -0,0 +1,5024 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_0.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14bf282aea538514b3872bf5bc0f241fb5a6ab3b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_0.obj
@@ -0,0 +1,3166 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_1.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04f9fdf7c967fa0783b5814a9d116834bf2a306
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_2.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66acd2a6601bed86323475870600afa8a615281f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_2.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_3.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d8c9943e2b828a686d092d2d99a72473a691af0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_3.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00166053 0.00906505 0.12144079
+v 0.00485302 0.00795684 0.12144079
+v 0.00308378 0.00659828 0.10596328
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+
diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_4.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93a944b24206b8b6b205a715fa9af5edffd2d6c0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_4.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.01577404 -0.00122457 0.13354471
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_5.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd11b626216fbe0eda98b54cba5dd24766327f82
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_5.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_6.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..884b9786df45d3d1475259531bd057ff73a01b6a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_6.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_7.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742f030c35db4b8b4fa8d4613bcff417eee33bd8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_7.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_8.obj b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fbee0e87be42cb9f629feb8547001154a0df24e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_collision_8.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..89d00adb226ddb178b52763895082329878cee1a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mjcf/mesh/candle_holder_032_geometry_Looks_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/e098cb63d95a5f5aaa8469e0a0a2803e/textures/material_0.png b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/textures/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/textures/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/video.mp4 b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ecd17c948e783cf4b432043d38d69d43526e4e9c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/video.mp4
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+version https://git-lfs.github.com/spec/v1
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