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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/candle_holder_004.urdf b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/candle_holder_004.urdf
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/candle_holder_004_collision.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/candle_holder_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304263d5a2b81a96b44c1689d611b72a3a2717bf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/candle_holder_004_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/candle_holder_004_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/candle_holder_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..048e41d9f903883f0904b0858807ddafaa4902cc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/candle_holder_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f451aff4e3d17f613d3d7aeb1dcea63e2a656be287ba5e7058787b61702b610
+size 10235015
diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8baef2a5c372e6ddd683266cbbb0731d99d34f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl candle_holder_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..048e41d9f903883f0904b0858807ddafaa4902cc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f451aff4e3d17f613d3d7aeb1dcea63e2a656be287ba5e7058787b61702b610
+size 10235015
diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/candle_holder_004.xml b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/candle_holder_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..10c9297212208c234163d87a9999956841699130
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/candle_holder_004.xml
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8966198d1dd0b2b41d6798a95331090c088bbacb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004.obj
@@ -0,0 +1,107878 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_004_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e35a1d2ec39d97857fa10209ff94695c877de92
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision.obj
@@ -0,0 +1,18883 @@
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_0.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a891a00601b5594d56e6c78688cd4d1d2589d1dd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_0.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_1.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66e28a5e219670e82f8e202db18e1df9720329a6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_10.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2ab95906b3cd9984806c1989db5ecaef62f185
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_10.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_11.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..694ef0abfc3e582a0f03101cf4710c157cac9410
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_11.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_12.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b449b91ef5990a12a95ccaf0f11fbd74e6b9a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_12.obj
@@ -0,0 +1,1666 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_13.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..705e96bb40df291dcbec7471ca9d6673ae1a907d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_13.obj
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_14.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..613a759a06ec74a532b5d265b164bc8430e91d1f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_14.obj
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_15.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e0a21491f1c3d236c4aa927bfeca3556e5b972
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_15.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_16.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87ade0b923500d939fd0935a99626ba347190fc0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_16.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_17.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e28e4ab7714d018bdc437f0af92efc17c627d518
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_17.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_18.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a8b23165a62e5ed327bab760fd406db56b6b08
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_18.obj
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_19.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af372b13db55166842bbfee54a8693c33e6ce9c1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_19.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_2.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762e4b6ca680f010af654e0d568c805061e5a9ae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_2.obj
@@ -0,0 +1,964 @@
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_20.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13554a29b54041e52b42453e2eff63f2ad7439f0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_20.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_21.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf3248c3cfa8f16540372d71707cdb017e1f6ac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_21.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_22.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82129f11f7b0287e36eb0e6112c04d226d33adf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_22.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_23.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4647ab37a259a40669268a5cc47e2e27820ef5da
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_23.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_24.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10f4cda84bf2d20b495432a209969db54225560d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_24.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.02358521 0.01932757 0.06745239
+v -0.03028311 -0.00030157 0.06745232
+v -0.03695244 0.01932757 0.06745239
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_25.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f72c8a1cc3fd64c489b8070fdac63e74b84f802d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_25.obj
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_3.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d41212b9d5cc2e25ceae9fa369086c7147240b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_4.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd61366802dea2cdd5ad2f276f478733aa7d1b1
--- /dev/null
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_5.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..208224797d3bbd5ddaaa6131cf7c4e7c854b9251
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_5.obj
@@ -0,0 +1,943 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_6.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3ecd714ec8252ca2d3336b61f5ebfb45f6f6f7f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_7.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08b1c668293e2f3c4d167635c193ddde1e1df5f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_7.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_8.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90b74f00096174ecd83c3e065e0510cebb21496
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_8.obj
@@ -0,0 +1,1015 @@
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diff --git a/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_9.obj b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83365075b28199beec32031dc982e7a0a23268b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mjcf/mesh/candle_holder_004_collision_9.obj
@@ -0,0 +1,184 @@
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