diff --git a/.gitattributes b/.gitattributes
index f7ccd285d2b684133504a7f5798e2e73a9ab2c08..ac325c1b5296a3046bfceecc8ec8d2a66041051c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4911,3 +4911,5 @@ dataset/livingroom_supplies/ornaments/32cf2ba420cb58309ec8f46a5e04baa2/mjcf/mesh
 dataset/livingroom_supplies/ornaments/32cf2ba420cb58309ec8f46a5e04baa2/photo_frame_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/3ae47f1efdba5592bd109c32f8a764e0/3ae47f1efdba5592bd109c32f8a764e0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/3aea0141837058b093e8e945a9d029ae/3aea0141837058b093e8e945a9d029ae.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/candle_holder_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/candle_holder_003.urdf b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/candle_holder_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36f7b91ecccd46a2511039d31da34e87a78c1047
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/candle_holder_003.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="candle_holder_003">
+   <link name="candle_holder_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/candle_holder_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <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>3b82319ff6ff55d08ca3b7874b51388d</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>candle_holder</category>
+         <name>ornate candle holder</name>
+         <color>bronze</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>elegant candle holder with three arms and decorative base</description>
+         <min_height>0.5500</min_height>
+         <max_height>0.5500</max_height>
+         <real_height>0.5500</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414154757</generate_time>
+         <gs_model>""</gs_model>
+      </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/3b82319ff6ff55d08ca3b7874b51388d/candle_holder_003.usd b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/candle_holder_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6ff6945d707ba61975ee3790a77ee019cf6820c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/candle_holder_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dea04d976bc619ef6191a78c38d2b2c78058cf45c96c839be7ebe56d49b0ffcd
+size 5059698
diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003.glb b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ece95aa1c0774d098820777d81e78fa8a9871bee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97eb53aa7005a788f9acfa1920b2ec20d3c612cf4181c2e959b9406e09d82230
+size 16322588
diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003.mtl b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..17cb359eab455f3c276458002cd99060b95ea063
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003.mtl
@@ -0,0 +1,6 @@
+newmtl candle_holder_003_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/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c02a3f3d0e771994e206eeea89c6d109dd276f32
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003.obj
@@ -0,0 +1,121890 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_003_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003_collision.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1399830cadb79563ba7cb1246ea9ed2fe24c4fcf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a05eb91d74436063d54433fe6059fd47f3ca6834
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/candle_holder_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57dc0b598b1e146a50ef6b85bce33814af93a7419003484f8c4b366f6fdbb8ad
+size 12755613
diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d5321e076e18586bf128565ff8083b3fdc593bc1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl candle_holder_003_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
+Ns 1.00000000
+map_Kd candle_holder_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a05eb91d74436063d54433fe6059fd47f3ca6834
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57dc0b598b1e146a50ef6b85bce33814af93a7419003484f8c4b366f6fdbb8ad
+size 12755613
diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/candle_holder_003.xml b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/candle_holder_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8258611a63d3988f9803a4ed5e97a44249853074
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/candle_holder_003.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="candle_holder_003">
+  <asset>
+    <material name="material_0" texture="texture_0_candle_holder_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_candle_holder_003_geometry_Looks_material_0" type="2d" file="mesh/candle_holder_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/candle_holder_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/candle_holder_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/candle_holder_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/candle_holder_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/candle_holder_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/candle_holder_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/candle_holder_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/candle_holder_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/candle_holder_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/candle_holder_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/candle_holder_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/candle_holder_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/candle_holder_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/candle_holder_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/candle_holder_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/candle_holder_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/candle_holder_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/candle_holder_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/candle_holder_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/candle_holder_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/candle_holder_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/candle_holder_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/candle_holder_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/candle_holder_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/candle_holder_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/candle_holder_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="candle_holder_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" 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/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58595615fc91d68d5f204a3c588173c05e6eaa79
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003.obj
@@ -0,0 +1,121890 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_003_geometry_Looks_material_0
+v 0.170324 0.014095 0.135566
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e75e63c062ca5f184aa358d186156d27e4a2f0d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision.obj
@@ -0,0 +1,8691 @@
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_0.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b359d51a3aeb03d3b89d6d8684e7b7d533fbd35a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_0.obj
@@ -0,0 +1,1609 @@
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_1.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2bf86637f3b0dc2f3077e1ef1336c5b0e0fb5a3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_10.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c28b7297d012fab313c4c815c047303ebe85fb6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_10.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_11.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a23ec95ac9f10ddd980dbbaa5523f79e46848e1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_11.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_12.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..329b799a2a0c50d3cfe4c39abfd0fe70cc18a4bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_12.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_13.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e21b4cb47c68b8b9d457cb83c954b341b8ab709b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_13.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_14.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5c27c6483bea25c29ace022e92ef86b975fab44
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_14.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_15.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a99346274bd4d09b69f4a0a572a2f9e3f9b21a3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_15.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_16.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f820075cb1ba6f5bf32e5bb55fd0de816a4b5974
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_16.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_17.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db7cb38e66971fc5c3c6c5d40cac1ef895b28026
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_17.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_18.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ab1b026023182c78bf4b14e6372e52ed3345add
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_18.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_19.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b161cbf3512a292cc6b73e510c2b18187f40e91
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_19.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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+v 0.01283661 -0.13434629 0.01551200
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+
diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_2.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4025ac0c51ece3bca1970b59d2057039d87d53bc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_2.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01241010 -0.02548137 -0.01585016
+v 0.01235762 -0.02548141 -0.00676849
+v 0.01061277 -0.05145111 -0.01808890
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_20.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a56ba9b63d41636afa9109cde83fdc500b0594d4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_20.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_21.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff1a870691a1b22889ec5f00e59f7acffefe78f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_21.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_22.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6de6da7f7564983951291d474138d3fcaa0d56b8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_22.obj
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_23.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a90529248ad51e41cce3c8c651e224c144e7ab03
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_23.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_24.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f766fbf8f6199ef3af5f63085aa7c46c6b931acd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_24.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_3.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c45dbdecb46f90573ad529469e23a6beca60cde
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_3.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_4.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06bfa237591ecbc338c89f9849683acaff73c212
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_4.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_5.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..002debd1bf434c31f85345acdcbe1b5f4e1fbe39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_5.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_6.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d77acf068a09be7b91db9db2dcbd05d0da6ed7be
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_6.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_7.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68706223414014a035056b2bf68e9505f570570a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_7.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_8.obj b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baef2b8f3e400032b22a39fc834ac174b1939412
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/3b82319ff6ff55d08ca3b7874b51388d/mjcf/mesh/candle_holder_003_collision_8.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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